The current lint error when dealing with this is a bit misleading. The following code

module test_module();
struct {
        logic [1:0] a[2:0];
} a_struct;
endmodule

Results in this lint-error:

verilator --lint-only test.v
%Error: test.v:5:22: Unsupported: Unpacked array in packed struct/union
    5 |         logic [1:0] a[2:0];
      |                      ^
%Error: Exiting due to 1 error(s)

Since the code should actually result in an unpacked struct, there would be good with a note that this is not supported in verilator yet.

Um, it says "Unsupported" right in the message. So, I'm not sure what you are suggesting.

Makes sense, fixed error and now refers to UNPACKED error in the manual.

Fixed with #3802