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There used to be a SystemV/init-compatible setup in Debian and Ubuntu, which made autostarting guests as easy as starting / stopping any other daemon. Old pages, including https://askubuntu.com/questions/404665/how-to-start-virtual-box-machines-automatically-when-booting , describe the SystemV setup.
However, it's 2016, and everyone has switched to systemd. My Debian testing using a stock VirtualBox shows only a vboxweb service. The official VirtualBox manual did not change, and the method described there fails.
What is the most common way in which SystemD users automatically boot guests when the host boots?