Verified on 22.04, this issue is fixed.
And on 20.04, I installed finalrd 9 and plymouth 0.9.5, this issue is also gone.

Here is the patch for finalrd, but for plymouth, there are so many
changes from 0.9.4, so I gave up to find the patches, let's fix this
issue on 22.04.

diff --git a/finalrd.service b/finalrd.service
index e67d177..b31705f 100644
--- a/finalrd.service
+++ b/finalrd.service
@@ -6,6 +6,7 @@ Documentation=man:finalrd(1)
 After=local-fs.target boot.mount boot.automount
 Wants=local-fs.target
 Conflicts=shutdown.target umount.target
+Before=shutdown.target
 DefaultDependencies=no

 [Service]
diff --git a/finalrd.sh b/finalrd.sh
index cffa94b..f623f8c 100755
--- a/finalrd.sh
+++ b/finalrd.sh
@@ -25,12 +25,11 @@ mount -o remount,exec /run
 # our shutdown sequence is to be controled by systemd-shutdown which
 # will unmount all the things, and run our hooks

-LD=`grep -Eow '/.*ld-.*.so' /proc/self/maps | head -1`
 for bin in /bin/sh /lib/systemd/systemd-shutdown
 do
     rm -f /run/finalrd-libs.conf
     touch /run/finalrd-libs.conf
- for lib in `$LD --list $bin | grep -Eow "/.* "`
+ for lib in `LD_TRACE_LOADED_OBJECTS=1 $bin | grep -Eow "/.* "`
     do
         if [ "$lib" = '=>' ]
         then

** No longer affects: mdadm

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

** Changed in: oem-priority
       Status: Triaged => Won't Fix

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https://bugs.launchpad.net/bugs/1940514

Title:
  It will prompt "Failed to unmount /oldroot" when shutdown or reboot

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