I have struggled with this. Here's the easy fix:
1. Use the command, "zpool import" with no arguments to see the list of disks marked as 'boot-pool'. One of these will be the one you actually intend as your boot pool disk. Note the numeric ID (mine is 19 digits in length).
2. Duplicate the failing zpool command, only substiture your ID instead of 'boot-pool', like so:
/sbin/zpool import -N -f 0123456789012345678
where: 0123456789012345678 is your actual ID from the output of previous zpool import.
3. type "exit" and you're done. From there it should import the correct zpool ID.
Cheers,
-=Cameron
Many thanks to jgreco for editing the above. Well done.
Some additional nuance and detail to add here in case it helps anyone:
Once you have completed the above steps, that gets you past the issue for that boot session, but don't just reboot - if you do that, you'll experience the same problem and have to go through the above steps over again.
Instead, once you have executed a successful zpool import command using the ID as described above, and after you type 'exit", the 0-9 menu appears so you can configure your network settings, etc.
Once you see the 0-9 menu, you can then access TrueNas from the web UI. Do that!
From the Web UI, click 'Storage', and then click 'Disks'. You should see the offending disk in the list that you identified earlier.
Click the down arrow on the far right of that disk's entry in the list to expand the details section. When the details section for that disk expands down, you will see a button at the bottom right with a little trash can icon that says, "Wipe". Use that button to wipe the disk.
I had to to wipe the disk in order to remove the extraneous 'boot-pool' marker from one of my drives (which was not the intended boot drive). From then on, I was able to boot right into the 0-9 menu no problem because that eliminated the conflict.
Note that the 'boot-pool' marker is not the same as a disk or partition label - some of the developers may be able to explain how that marker is implemented, and whether there may be some other way to remove it if you don't want to wipe your disk. (My drive had no data yet anyway so I didn't care).
Bottom line: if you leave the 'boot-pool' marker on more than one drive, you will continue to have this issue on every boot until you resolve it.
Cheers,
-=Cameron