What is the proper way to do a boot/hot-plug automount for ATA and USB storage devices on Linux systems using systemd without requiring a GUI or a user having to be logged in?

It seems that calling mount from a udev rule is no longer acceptable with systemd (so older rules are no longer guaranteed to work), and udisks does not automount if the user is not logged in locally.

The method should have a way to include mount options, so writability and filesystem masks can be set, as well as clean up after an "ungraceful" unmount (i.e., yanking the device out while still in use).

NOTE: Methods to accomplish this using shell scripts have been discussed, but is there a way to do this without using scripts? I want to stick to direct software capabilities as much as possible, although a script is acceptable if there is no other solution.

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