Hi Don-san.

I am able to reproduce with the following procedure.

-----------------
vagrant init ubuntu/xenial64
vagrant ssh
# at xenial64 on VM
echo 'session required pam_tty_audit.so enable=*' | sudo tee -a 
/etc/pam.d/common-session
-----------------

When 'vagrant ssh' from other terminal, it is fail.
I tested below environment.
-----------------
vagrant@ubuntu-xenial:~$ uname -a
Linux ubuntu-xenial 4.4.0-142-generic #168-Ubuntu SMP Wed Jan 16 21:00:45 UTC 
2019 x86_64 x86_64 x86_64 GNU/Linux
vagrant@ubuntu-xenial:~$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 16.04.5 LTS
Release:        16.04
Codename:       xenial
vagrant@ubuntu-xenial:~$ dpkg -l | grep -E 'libpam|linux-image'
ii  libpam-modules:amd64             1.1.8-3.2ubuntu2.1                         
amd64        Pluggable Authentication Modules for PAM
ii  libpam-modules-bin               1.1.8-3.2ubuntu2.1                         
amd64        Pluggable Authentication Modules for PAM - helper binaries
ii  libpam-runtime                   1.1.8-3.2ubuntu2.1                         
all          Runtime support for the PAM library
ii  libpam-systemd:amd64             229-4ubuntu21.15                           
amd64        system and service manager - PAM module
ii  libpam0g:amd64                   1.1.8-3.2ubuntu2.1                         
amd64        Pluggable Authentication Modules library
ii  linux-image-4.4.0-142-generic    4.4.0-142.168                              
amd64        Linux kernel image for version 4.4.0 on 64 bit x86 SMP
ii  linux-image-virtual              4.4.0.142.148                              
amd64        This package will always depend on the latest minimal generic 
kernel image.
vagrant@ubuntu-xenial:~$
-----------------

If you cannot reproduce this issue above procedure, you try to enable/disable 
other pam module.
This problem is caused by an uninitialized stack variable, so it is important 
to manipulate the state of the stack to reproduce it.
For example, it is good to activate pam_ldap.

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https://bugs.launchpad.net/bugs/1666203

Title:
  pam_tty_audit failed in pam_open_session

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