What I think is happening in our case:
Since no ExecStop= was specified, systemd will send SIGTERM [...]
Details: https://www.freedesktop.org/software/systemd/man/systemd.kill.html#

KillMode is "process" in the service file.
That means "If set to process, only the main process itself is killed."

So in this case it relies on that being forwarded to the child processes.
That takes time.
If not waiting for it to be "complete" the following restart will send the next 
SIGTERM and this eliminates the (already in cleanup) main proccess before it 
can distribute the TERM to its childs/siblings. This is our error state.

In this broken state
 Main PID: 10600 (code=exited, status=0/SUCCESS)
Our mode of KillMode=process might have special handling and kill all of them 
(since there is no main to kill). That is the cleanup, which gets it back to 
work again.

Since the service files in both (X/Z) cases are the same I wonder if
there is a systemd change which fixes this by some sort of waiting for
the signal to be handled (e.g. waiting for the MainPid to go away on its
own).

Systemd versions:
Xenial: 229-4ubuntu16
Zesty: 232-18ubuntu1

** Description changed:

  Because "PIDFile=" directive is missing in the systemd unit file,
  keepalived sometimes fails to kill all old processes. The old processes
  remain with old settings and cause unexpected behaviors. The detail of
  this bug is described in this ticket in upstream:
  https://github.com/acassen/keepalived/issues/443.
  
  The official systemd unit file is available since version 1.2.24 by this
  commit:
  
  
https://github.com/acassen/keepalived/commit/635ab69afb44cd8573663e62f292c6bb84b44f15
  
  This includes "PIDFile" directive correctly:
  
  PIDFile=/var/run/keepalived.pid
  
  We should go the same way.
  
  I am using Ubuntu 16.04.1, kernel 4.4.0-45-generic.
  
  Package: keepalived
  Version: 1.2.19-1
  
  =======================================================================
  
  How to reproduce:
  
  I used the two instances of Ubuntu 16.04.2 on DigitalOcean:
  
  Configurations
  --------------
  
  MASTER server's /etc/keepalived/keepalived.conf:
  
    vrrp_script chk_nothing {
       script "/bin/true"
       interval 2
    }
  
    vrrp_instance G1 {
      interface eth1
      state BACKUP
      priority 100
  
      virtual_router_id 123
      unicast_src_ip <primal IP>
      unicast_peer {
        <secondal IP>
      }
      track_script {
        chk_nothing
      }
    }
  
  BACKUP server's /etc/keepalived/keepalived.conf:
  
    vrrp_script chk_nothing {
       script "/bin/true"
       interval 2
    }
  
    vrrp_instance G1 {
      interface eth1
      state MASTER
      priority 200
  
      virtual_router_id 123
      unicast_src_ip <secondal IP>
      unicast_peer {
        <primal IP>
      }
      track_script {
        chk_nothing
      }
    }
  
- Procedures
- ----------
+ Loop based probing for the Error to exist:
+ ------------------------------------------
+ After the setup above start keepalived on both servers:
+     $ sudo systemctl start keepalived.service
+ Then run the following loop
+     $ for j in $(seq 1 20); do sleep 11s; time for i in $(seq 1 5); do sudo 
systemctl restart keepalived; sudo systemctl status keepalived | egrep 
'Main.*exited'; done; done
+ 
+ Expected: no error, only time reports
+ Error case: Showing Main PID exited, details below
+ 
+ Step by Step Procedures
+ -----------------------
  
  1) Start keepalived on both servers
  
    $ sudo systemctl start keepalived.service
  
  2) Restart keepalived on either one
  
    $ sudo systemctl restart keepalived.service
  
  3) Check status and PID
  
    $ systemctl status -n0 keepalived.service
  
  Result
  ------
  
  0) Before restart
  
  Main PID is 3402 and the subprocesses' PIDs are 3403-3406. So far so
  good.
  
    root@ubuntu-2gb-sgp1-01:~# systemctl status -n0 keepalived
    ● keepalived.service - Keepalive Daemon (LVS and VRRP)
       Loaded: loaded (/lib/systemd/system/keepalived.service; enabled; vendor 
preset: enabled)
       Active: active (running) since Sat 2017-03-04 01:37:12 UTC; 14min ago
      Process: 3402 ExecStart=/usr/sbin/keepalived $DAEMON_ARGS (code=exited, 
status=0/SUCCESS)
     Main PID: 3403 (keepalived)
        Tasks: 3
       Memory: 1.7M
          CPU: 1.900s
       CGroup: /system.slice/keepalived.service
               ├─3403 /usr/sbin/keepalived
               ├─3405 /usr/sbin/keepalived
               └─3406 /usr/sbin/keepalived
  
  1) First restart
  
  Now Main PID is 3403, which was one of the previous subprocesses and is
  actually exited. Something is wrong. Yet, the previous processes are all
  exited; we are not likely to see no weird behaviors here.
  
    root@ubuntu-2gb-sgp1-01:~# systemctl restart keepalived
    root@ubuntu-2gb-sgp1-01:~# systemctl status -n0 keepalived
    ● keepalived.service - Keepalive Daemon (LVS and VRRP)
       Loaded: loaded (/lib/systemd/system/keepalived.service; enabled; vendor 
preset: enabled)
       Active: active (running) since Sat 2017-03-04 01:51:45 UTC; 1s ago
      Process: 4782 ExecStart=/usr/sbin/keepalived $DAEMON_ARGS (code=exited, 
status=0/SUCCESS)
     Main PID: 3403 (code=exited, status=0/SUCCESS)
        Tasks: 3
       Memory: 1.7M
          CPU: 11ms
       CGroup: /system.slice/keepalived.service
               ├─4783 /usr/sbin/keepalived
               ├─4784 /usr/sbin/keepalived
               └─4785 /usr/sbin/keepalived
  
  2) Second restart
  
  Now Main PID is 4783 and subprocesses' PIDs are 4783-4785. This is
  problematic as 4783 is the old process, which should have exited before
  new processes arose. Therefore, keepalived remains in old settings while
  users believe it uses the new setting.
  
    root@ubuntu-2gb-sgp1-01:~# systemctl restart keepalived
    root@ubuntu-2gb-sgp1-01:~# systemctl status -n0 keepalived
    ● keepalived.service - Keepalive Daemon (LVS and VRRP)
       Loaded: loaded (/lib/systemd/system/keepalived.service; enabled; vendor 
preset: enabled)
       Active: active (running) since Sat 2017-03-04 01:51:49 UTC; 1s ago
      Process: 4796 ExecStart=/usr/sbin/keepalived $DAEMON_ARGS (code=exited, 
status=0/SUCCESS)
     Main PID: 4783 (keepalived)
        Tasks: 3
       Memory: 1.7M
          CPU: 6ms
       CGroup: /system.slice/keepalived.service
               ├─4783 /usr/sbin/keepalived
               ├─4784 /usr/sbin/keepalived
               └─4785 /usr/sbin/keepalived

** Also affects: systemd (Ubuntu)
   Importance: Undecided
       Status: New

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https://bugs.launchpad.net/bugs/1644530

Title:
  keepalived fails to restart cleanly due to the wrong systemd settings

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