These udev netlink messages are supposed to be sent with the credentials (process ID, user ID, group ID) of the sending process. libudev will not accept messages without this. The SO_PASSCRED option is used to enable receving credentials, as described in the man page for Unix domain sockets on Linux.
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We can avoid this in two ways. Firstly, we can declare that any code that observes two nodes must depend on those nodes, and then apply the topological sort we described earlier. Alternatively, we can declare that any code that might be able to observe two nodes can only be run after all nodes have finished running2. These both work, but again they require us to be able to observe the full dependency tree and topologically sort all nodes.