Hello,

 Disclaimer: I have never tested what is following.

 Perhaps another way of keeping two kernels without increasing the size oft the 
/boot partition would be to decrease the size of the initrd files: by default 
they are built with allmost all possible modules, but they can be built with 
only the modules that are needed (for the hardware which is automatically 
detected). That is, if Ubuntu acts as Debian in this regard (Debian here)

 As root or via sudo:
1) edit the /etc/initramfs-tools/initramfs.conf file to replace  the 
MODULES=most line by a MODULES=dep one
2) to make room in /boot for the following step, delete the big initrd images:
# rm /boot/initrd*
3) generate smaller initrd images
# update-initramfs -c -k all

 Next time there is a kernel update, the initrd will automatically be generated 
with a smaller size (but you will perhaps have to make room for it if you have 
not enough space for three kernels)

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