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Upstart was fine. It does the parallel init thing without taking over the whole OS.
I almost forgot it existed. It was a slight improvement, but with a whole bunch of new problems (most notable race conditions which were never fixed) and it was made obsolete by systemd.
It was a good evolutionary step only used by Ubuntu iirc. It was better at that time than the previous init system, but not more than that and it never found wide adaption.