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diff --git a/etc/mtree/BSD.tests.dist b/etc/mtree/BSD.tests.dist
--- a/etc/mtree/BSD.tests.dist
+++ b/etc/mtree/BSD.tests.dist
@@ -1281,6 +1281,8 @@
..
..
usr.sbin
+ autofs
+ ..
certctl
..
chown
diff --git a/usr.sbin/autofs/Makefile b/usr.sbin/autofs/Makefile
--- a/usr.sbin/autofs/Makefile
+++ b/usr.sbin/autofs/Makefile
@@ -1,3 +1,5 @@
+.include <src.opts.mk>
+
CONFS= auto_master
PACKAGE=autofs
PROG= automountd
@@ -22,4 +24,7 @@
SUBDIR= autofs
+HAS_TESTS= yes
+SUBDIR.${MK_TESTS}+= tests
+
.include <bsd.prog.mk>
diff --git a/usr.sbin/autofs/tests/Makefile b/usr.sbin/autofs/tests/Makefile
new file mode 100644
--- /dev/null
+++ b/usr.sbin/autofs/tests/Makefile
@@ -0,0 +1,5 @@
+PACKAGE= tests
+
+ATF_TESTS_SH+= autofs_rmdir_test
+
+.include <bsd.test.mk>
diff --git a/usr.sbin/autofs/tests/autofs_rmdir_test.sh b/usr.sbin/autofs/tests/autofs_rmdir_test.sh
new file mode 100755
--- /dev/null
+++ b/usr.sbin/autofs/tests/autofs_rmdir_test.sh
@@ -0,0 +1,78 @@
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+# Copyright (c) 2025 Rob Wing <rew@FreeBSD.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+# OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+# OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+# SUCH DAMAGE.
+
+atf_init_test_cases()
+{
+ atf_add_test_case autofs_rmdir
+}
+
+atf_test_case autofs_rmdir cleanup
+autofs_rmdir_head()
+{
+ atf_set "descr" "verify rmdir() succeeds with autofs filesystem"
+ atf_set "require.user" root
+}
+
+# bugzilla PR 241531
+autofs_rmdir_body()
+{
+ atf_check daemon automountd
+ atf_check automount
+ atf_check -o not-empty mount -t autofs
+
+ # verify /media/md666 doesn't exist
+ atf_check -s exit:1 -e not-empty ls /media/md666
+
+ # create md666 device with UFS filesystem
+ atf_check truncate -s 100M autofs.img
+ atf_check mdconfig -f autofs.img -u 666
+ atf_check -o not-empty newfs /dev/md666
+
+ # clear autofs cache and verify existence of /media/md666
+ atf_check automount -c
+ atf_check -s exit:0 -o ignore ls /media/md666
+
+ # unmount /media/md666 and remove /dev/md666
+ atf_check automount -u
+ atf_check mdconfig -d -u 666
+
+ # clear autofs cache and remove /media/md666 directory
+ atf_check automount -c
+ atf_check rmdir /media/md666
+
+ # clear autofs cache and verify /media/md666 doesn't exist
+ atf_check automount -c
+ atf_check -s exit:1 -e not-empty ls /media/md666
+}
+
+autofs_rmdir_cleanup()
+{
+ automount -u
+ umount -At autofs
+ pkill automountd
+ mdconfig -d -u 666 2> /dev/null
+ rm -f autofs.img
+}

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