The old approach called udp_bind() on each of the PCBs, which puts them into udp_pcbs list. The PCBs were iterated on all non-DHCP udp_inputs() with no effect.
My cleanup removes the special handling in udp.c, and uses only one DHCP UDP PCB to catch all DHCP messages from all netifs. The dhcp_recv function then checks whether ip_current_input_netif() has DHCP enabled - if not, the message is ignored. The PCB is only created/registered when one or more PCBs have DHCP enabled.