Sim, existe apenas um direto (não de qualquer log).
sudo udevadm monitor
ou apenas para saída mais limpa do udev:
sudo udevadm monitor -u
Referência: man udevadm
:
udevadm monitor [options]
Listens to the kernel uevents and events sent out by a udev rule and
prints the devpath of the event to the console. It can be used to
analyze the event timing, by comparing the timestamps of the kernel
uevent and the udev event.
-u, --udev
Print the udev event after the rule processing.