udisksd crashes when bitlocker usb drives got removed unexpectedly

[Rimits]

The release of Ubuntu : 21.04 LiveCD, 20.10 also has this problem

What happened (How to reproduce):
Boot to liveCD 21.04 or 20.10 (before 20.10 bitlocker is not supported out of the box )
Insert a bitlocker-protected usb flah drive, type in the password and the drive will be mounted
Unplug the drive without clicking "Safely remove drive" to simulate an unexpected disconnect
udisksd will crash immediately and never recovers unless you reboot the machine.

What you expected to happen
don't crash or recover without a reboot.

My usb flash drive is formatted by an old W7:
sudo cryptsetup bitlkDump /dev/sdd1
...
Version: 2
...
Cipher name: aes
Cipher mode: cbc-eboiv
Cipher key: 256 bits
...

dmesg output after the crash: (LiveCD, 21.04)
[ 341.614921] usb 4-1: USB disconnect, device number 2
[ 341.621228] sd 6:0:0:0: [sdd] Synchronizing SCSI cache
[ 341.663577] Buffer I/O error on dev dm-0, logical block 105595632, async page read
[ 341.664870] pool-udisksd[4156]: segfault at 20 ip 00007fdb08385ddf sp 00007fdb027954c0 error 4 in libcryptsetup.so.12.6.0[7fdb08371000+51000]
[ 341.664889] Code: ee eb 03 00 be ff ff ff ff 31 c0 e8 eb d4 fe ff e9 c2 fe ff ff 66 0f 1f 44 00 00 f3 0f 1e fa 41 55 41 89 d5 41 54 49 89 fc 55 <48> 8b 7e 20 48 89 f5 e8 d5 2b 00 00 85 c0 75 13 44 89 ea 48 89 ee
[ 341.902730] sd 6:0:0:0: [sdd] Synchronize Cache(10) failed: Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK

I also have a crash file attached if it will help.