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I finally got it. The problem is not with DRS in particular but with anything that takes a non-zero amount of time to execute. It can be broken with sleep() or just with some traditional operations. The problem is in fact caused by the nodelet, specifically by the first commit that got to Noetic: https://github.com/ros/nodelet_core/5272c34. The commit was intended to fix this particular issue, but it, in fact, causes it. They disable callback queues before calling onInit() and re-enable them after. But it seems that this is not a good solution. I have submitted an issue there: https://github.com/ros/nodelet_core/issues/106. In the meantime, a temporary workaround is to compile the nodelet_core without that commit.