Udev is not a strict requirement, but many scripts and such stuff assume that it's present, so much rewriting if you want to remove it. Plus it shouldn't delay boot in a noticeable way.
Until you have problems with the kernel config, compile everything into the kernel unless you know you don't need that feature at boot. Modules should be automatically loaded. However, you need to check if the path is OK and if you get errors when trying to load some.
QoS may be compiled mostly as modules if you don't need it at boot. Probably you don't.
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