I can't find tape device file inside /dev directory
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[1:0:0:0] cd/dvd NECVMWar VMware IDE CDR10 1.00 /dev/sr0
[2:0:0:0] disk VMware Virtual disk 1.0 /dev/sda
[2:0:1:0] mediumx HP 1x8 autoloader 1.50 /dev/sch0
But the tape device file (st* or nst*) inside the /dev directory has not been created.
From your /proc/devices, you should have a /dev/st* name. Now it is possible that udev may have altered its name, but it should show up with the device number of 9 (the entry for "9 st"). You also have the changer recorded as "86 ch", so the /dev entry with the device number 86 should also show up (again, possibly renamed by udev).
That implies that udev doesn't know how to create them.
You can try a quickie test using "mknod /dev/st0 c 9 0", and see if the device responds when using /dev/st0. If you are trying the changer use "mknod /dev/ch0 c 86 0", and that should give access to it.
Now I haven't created any udev rules (never needed to) so you would have to look those up in other places, but if the devices work with the mknod then they can work with udev too.