With Mailscanner (v4.85.2) and Postfix (v2.11.1-1) on Ubuntu mail is being delivered, but there are times where messages sit on the incoming queue after mailscanner has scanned them for right at 5 minutes before being delivered (in my case I'm delivering to Cyrus IMAP, but I believe that's inconsequential as the problem is that postfix isn't trying to deliver them until a certain timeout occurs).
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At some point (in 2013, I believe), the postfix package changed the entry for qmgr from fifo to unix in master.cf (in /etc/postfix on my system). Because of this change, the delay was introduced. You probably also have this message in your mail log: KickMessage failed as couldn't write to /var/spool/postfix/public/qmgr
To fix this, change the qmgr entry in master.cf from:
qmgr unix n - n 300 1 qmgr
to
qmgr fifo n - n 300 1 qmgr
and reload postfix.
Thanks to the this mailscanner list thread for providing the answer.