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Follow the journal live while inserting a USB stick to see what's going on:

sudo journalctl -f

First, the kernel must display messages indicating it sees the insertion of the USB device, and is instantiated in /dev/, and its partition map is discovered. Only then will user space tools like udev and udisks2 be able to do something with it, including automounting. There are some rules as to what kinds of partition types and file systems won't automount, but for common types: NTFS, FAT, HFS+, and most Linux file systems, it should be automounted.