how to have the kernel do udev's job and autoload the right modules ?

[linux cbon]

Hi,

I am experimenting a rc.sysinit without udev.
Only creating /dev with mount -t devtmpfs dev /dev
It also mounts /proc and /sys and /tmp and /var .
So the kernel boots up loading a lot of hardware, but some important
modules are not loaded , like sound, network and video.
I am not sure how to have them auto loaded by the kernel without udev ?
I though kernel would have some kind of auto-loading of the right
modules, without needing any help like udev.
I don't know the simplest and easiest way to achieve this ?
Thanks for your help.

Best regard.
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