Had the same issue. Here is how I fixed it.
1) Force cryptsetup to be included in the initramfs. Open
Code:
/etc/cryptsetup-initramfs/conf-hook
and add the following line to it
2) Generate initramfs
Code:
mkinitramfs -o /boot/initramfs.gz
3) VERIFY cryptsetup binaries and libraries are included
Code:
lsinitramfs /boot/initramfs.gz | grep cryptsetup
you should have the following output:
Code:
usr/lib/arm-linux-gnueabihf/libcryptsetup.so.12
usr/lib/arm-linux-gnueabihf/libcryptsetup.so.12.3.0
usr/lib/cryptsetup
usr/lib/cryptsetup/askpass
usr/lib/cryptsetup/functions
usr/sbin/cryptsetup
4) copy everying to the sdcard as described in the official tutorial step 4 (https://www.kali.org/tutorials/secure-kali-pi-2018/).
Note: your first boot will be broken. here is how you fix it.
Take note of the error messages along the lines "device /dev/mapper/crypt does not exist". It will tell you where your encrypted partition sould be mounted.
5) Wait until you are dropped into initramfs shell, then open your encrypted partition with:
Code:
cryptsetup luksOpen /dev/mmcblk0p2 crypt
6) Verify that your encrypted partition is open:
7) Once your partition is mounted, exit initramfs by typing
8) boot into your encrypted system and regenerate initramfs.gz
Code:
mkinitramfs -o /boot/initramfs.gz
Hope this helps