I just solved this for my system. Hopefully people encountering this
have an existing bootable kernel from before the upgrade. If so, use
that to boot into the system then run:

sudo apt install cryptsetup cryptsetup-initramfs
sudo update-initramfs -c -k [kernel version needing fixing]

eg

sudo update-initramfs -c -k 6.8.0-49-generic

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You received this bug notification because you are a member of Kernel
Packages, which is subscribed to zfs-linux in Ubuntu.
https://bugs.launchpad.net/bugs/2067913

Title:
  after 23.10 to 24.04 upgrade zfs encrypted boot drive won't decrypt

Status in zfs-linux package in Ubuntu:
  Confirmed

Bug description:
  After performing an upgrade from ubuntu-mate 23.10 to 24.04, upon
  final reboot, there is an error message displayed indicating rpool
  fails to get an encryption key (zfs key load errorl and the booting
  process stops. This error has been reproduced on two different laptops
  both upgrading from 23.10 to 24.04.

  After rebooting again and selecting advanced options, if I select the
  23.10 6.5 kernel and continue, booting continues and I'm able to enter
  the decryption passkey and system boots to login prompt as normal.

  The issue seems to be confined to ZFS within the 6.8 kernel

To manage notifications about this bug go to:
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