My experience mirrors (pun intended) Jeff250's.

If I boot with break=mount, and remove "quiet splash", it drops to the
shell, and about a second later, it discovers everything properly.  At
that point, I can exit the shell and the boot process will continue
normally.

If I don't boot with break=mount and I let it fail and drop me to the
shell, nothing is ever discovered.  This might be expected behavior in
this circumstance.

One of the odd things in the first case is that my ATA (not SATA) drives
are discovered as /dev/sda and /dev/sdb according to /proc/mdstat, which
reports that /dev/md1 is comprised of /dev/sda5 and /dev/sdb5.  In the
"let it fail" scenario, if I perform a "udevd &; udevtrigger; [wait a
few seconds] ; pkill udev" it properly discovers them as /dev/hda and
/dev/hdc and starts /dev/md1 with /dev/hda5 /dev/hdc5.  Either way, once
it's finished booting, /proc/mdstat reports the correct device names
(/dev/hda* and /dev/hdc*).

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boot-time race condition initializing md
https://bugs.launchpad.net/bugs/103177
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