This is another AI answer. Maybe it differs from yours.
full auto-mount like single-session discs is not really achievable — that would require udisks2 to both detect the UDF filesystem (it can’t without lastblock=0) and pass that option (it’s not in its allowlist). You’d essentially need to patch udisks2.
But the closest native KDE experience is a custom Solid Device Action — a clickable entry that appears in the Device Notifier popup when you insert the disc, just like the built-in “Open with Dolphin” action.
A real kde user can help you maybe further with some solid advise.
Since the 2.9.0 UDisks release a new way of overriding builtin set of mount options is supported. This is primarily targeted to sysadmins with system-wide write access (e.g. /etc/udisks2 or udev rules) and essentially transfers responsibility for security and data consistency to their side.
Ah, RedHat, what would we do without thee, always thinking about our security
Another possibility of overriding mount options is from the udev rules.
Definitions coming from udev rules will override respective keys from both the config file level and the base builtin mount options
emphasis mine
So, yes it’s possible to override the builtins. It’s really cumbersome, but it’s doable. Things that are really hardcoded now are nodev and nosuid.
You can start from /etc/udisks2/mount_options.conf.example. Copy the file to /etc/udisks2/mount_options.conf and adjust the _defaults and _allow for udf.
Don’t forget to check out the examples on the documentation page.