non-interactive ssh session does not terminate, sshd process waits forever after a script exits
Using ssh -t (forced PTY allocation) on a client side solved the problem:
debug1: Received SIGCHLD.
debug1: session_by_pid: pid 31701
debug1: session_exit_message: session 0 channel 0 pid 31701
debug1: session_exit_message: release channel 0
debug1: session_pty_cleanup: session 0 release /dev/pts/1
Received disconnect from 127.0.0.1: 11: disconnected by user
debug1: do_cleanup
debug1: PAM: cleanup
debug1: PAM: closing session
debug1: PAM: deleting credentials
sshd is controlled by a pseudo TTY not by a client anymore.