It's interesting. I have a SCSI2SD in my PB 160 and it doesn't have the issue. But it looks like that SCSI2SD is ready very quickly. From debugging it looked like the system software (7.1 through 7.5.5 anyway) restores power to the device and within
500ms sends the IO request that caused it to spin up the device.
On the ZuluSCSI (with the latest firmware and default options) it looks like power on to device being ready takes approximately
1000 - 1800ms. So it misses that first IO request and just sits there waiting for new requests while the system software is waiting for a response from the SCSI device. So that's causing the lock up and it seems to clear after exactly 180 seconds (again on System 7.1 through 7.5.5, I have not tested any other versions).
My guess was that SCSI2SD uses the SD as a raw single device and gets ready very quickly in time to see that first IO request. But the ZuluSCSI uses the filesystem on the SD card and does some work to prepare image files to be exposed as individual SCSI devices. That plus the other features in ZuluSCSI are probably why it's taking so long to get ready and accept its first UI request? That's my working theory anyway.
I don't have a BlueSCSI device but
@3lectr1cPPC does in his PowerBook 170 (not sure which version of the BlueSCSI it is) and it also seems to be hanging after spin up. And at least on his copy with his settings, it's taking even longer to get ready (more than 3 seconds). Perhaps you have a newer version? or newer firmware? or less features enabled?
Perhaps a better fix might be to have those devices get ready faster? But this 2-3 second delay after a spin up seems to do the trick.