Dear Christopher,
Thank you very much!! Adding the tunable did solve the problem. I rebooted eight times and I experienced no more split brain situations. As with 2.1.5, the machine designated as CARP master was master for all networks after all reboots as long it was on. Before adding the tunable, I needed to reboot about eight times to end up without a split brain situation.
I did make two more observations which may be relevant:
One of my pair of firewalls is connected to a stacked switch. Of the LAGG with three members, two cables are connected to one switch in the stack and one to the other switch. In that setting, CARP issues did occur more frequently without the tunable. Maybe, the switch interfaces are coming up and down slightly slower due to stack coordination. At the other pair of my firewalls, all three LAGG member cables go to the same switch, as there is only one due to rack space limitations. There, split brain situations did occur without the tunable, but less frequently.
After adding the tunable, starting quagga did not work on the backup switch one time, but without practical consequences. Other than that, also starting and stopping quagga does work again after adding the tunable.
In general, I feel that a human readable text about CARP changes in 2.2 similar to the examples in the draft 2.1 book would be very helpful. For example, I am still banging my head to get captive portal running on a CARP / LAGG interface again after upgrading to 2.2 (https://forum.pfsense.org/index.php?topic=87991.msg495896#msg495896). Without understanding the changes, that is hard to do.
Regards,
Michael