In the Wikipedia article of udev:
Device drivers are part of the Linux kernel, and device discovery, state changes, etc. are handled by the Linux kernel. But after loading the driver into memory, the only action the kernel takes is to send out an event to a userspace daemon udevd.
It seems that the kernel is responsible for inserting corresponding kernel modules when detecting a device, and
udev receives events after the kernel modules are inserted.
However, in the ArchWiki page of udev:
udev loads kernel modules by utilizing coding parallelism to provide a potential performance advantage versus loading these modules serially.
I am confused. Who is responsible for inserting the kernel module, kernel or