After some endeavor, I managed to locate the code that mounts /boot:
It seems /boot will only be mounted, at lease in my case, if the partition (the one containing the root filesystem) ID is ended with 02, and I can confirm it works by changing the partition ID manually.
I wonder what's the significance of 02?
When one follows the doc, the partition ID is bound to change. Whether it ends with 02 is totally by chance IMO.