Now the new kernel is running for some time and I have tested unplugging
and plugging again the printers and all seems to work. I have also
forwarded printers to a virtual machine's USB and this also works. The
new kernel seems to have the problem fixed.

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https://bugs.launchpad.net/bugs/937662

Title:
  After plugging an HP LaserJet 1020 UDEV needs several minutes to set
  up newly connected USB printer

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