I can confirm this bug on my system as well.  Upgraded from 18.04LTS to
20.04LTS.  I have the same lsb_release -d and apt-cache policy gvfs
output as well.

I worked around this issue by creating a symlink in /usr/lib/x86_64
-linux-gnu from libusbmuxd.so.6.0.0 to libusbmuxd.so.4  I don't know if
this breaks anything, but this does seem to alleviate the slow launch of
certain Gnome apps that seem to rely on gvfs, along with my slow login
time that I was experiencing.  Nautilus, gedit, file dialogs,
screenshot, etc., that took ~20-30 seconds to load now load instantly,
and I do not get org.gtk.vfs.AfcVolumeMonitor timeout errors I was
seeing either.

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https://bugs.launchpad.net/bugs/1877135

Title:
  Failed to start Virtual filesystem service - Apple File Conduit
  monitor [libusbmuxd.so.4 not found]

Status in gvfs package in Ubuntu:
  New

Bug description:
  After upgrading to Focal, /usr/libexec/gvfs-afc-volume-monitor fails
  with the message /usr/libexec/gvfs-afc-volume-monitor: error while
  loading shared libraries: libusbmuxd.so.4: cannot open shared object
  file: No such file or directory

  
  1) lsb_release -rd:
  Description:  Ubuntu 20.04 LTS
  Release:      20.04

  2)apt-cache policy gvfs
  gvfs:
    Installed: 1.44.1-1ubuntu1
    Candidate: 1.44.1-1ubuntu1
    Version table:
   *** 1.44.1-1ubuntu1 500
          500 http://archive.ubuntu.com/ubuntu focal/main amd64 Packages
          100 /var/lib/dpkg/status

  4) What happens: many applications (nautilus, gedit, etc) take ~30 sec to 
open. When starting those via the command line, after after those 30 secs the 
app opens with the following printed to the terminal:
  "Error creating proxy: Error calling StartServiceByName for 
org.gtk.vfs.AfcVolumeMonitor: Timeout was reached (g-io-error-quark, 24)"

  3) What you expected to happen: applications to open without delay


  =============
  Additional info:

  After calling 'journalctl -b', several instances like
   dbus-daemon[2031]: [session uid=1000 pid=2031] Activating via systemd: 
service name='org.gtk.vfs.AfcVolumeMonitor' 
unit='gvfs-afc-volume-monitor.service' requested by ':1.25' (uid=1000 pid=2135 
comm="/usr/bin/gnome-shell " label="unconfined")
   systemd[1964]: Starting Virtual filesystem service - Apple File Conduit 
monitor...
   gvfs-afc-volume-monitor[2279]: /usr/libexec/gvfs-afc-volume-monitor: error 
while loading shared libraries: libusbmuxd.so.4: cannot open shared object 
file: No such file or directory
   systemd[1964]: gvfs-afc-volume-monitor.service: Main process exited, 
code=exited, status=127/n/a
   systemd[1964]: gvfs-afc-volume-monitor.service: Failed with result 
'exit-code'.
   systemd[1964]: Failed to start Virtual filesystem service - Apple File 
Conduit monitor.

  
  Also upowerd is affected:
   /usr/lib/upower/upowerd: error while loading shared libraries: 
libusbmuxd.so.4: cannot open shared object file: No such file or directory
   upower.service: Main process exited, code=exited, status=127/n/a
   upower.service: Failed with result 'exit-code'.
   Failed to start Daemon for power management.


  The package libusbmuxd6 is installed (and /usr/lib/x86_64-linux-
  gnu/libusbmuxd.so.6 is present), but  when trying "sudo apt install
  libusbmuxd4", I get the error "E: Unable to locate package
  libusbmuxd4". It would appear to me that some dependencies *somewhere*
  are not properly updated (to libusbmuxd6 from libusbmuxd4).

  Unfortunately, the huge timeout significantly affects usability of the
  computer, as one has to wait a lot to perform many tasks (opening
  nautilus, gedit); one has to wait also before login screen appears
  after a reboot.

  Something that appears to be related:
  
https://forum.manjaro.org/t/upower-fails-to-start-becuase-upowerd-is-not-running/117291

  ProblemType: Bug
  DistroRelease: Ubuntu 20.04
  Package: gvfs-backends 1.44.1-1ubuntu1
  ProcVersionSignature: Ubuntu 5.4.0-29.33-generic 5.4.30
  Uname: Linux 5.4.0-29-generic x86_64
  ApportVersion: 2.20.11-0ubuntu27
  Architecture: amd64
  CasperMD5CheckResult: skip
  CurrentDesktop: GNOME
  Date: Wed May  6 13:45:53 2020
  EcryptfsInUse: Yes
  InstallationDate: Installed on 2015-03-18 (1875 days ago)
  InstallationMedia: Ubuntu 14.10 "Utopic Unicorn" - Release amd64 (20141022.1)
  SourcePackage: gvfs
  UpgradeStatus: Upgraded to focal on 2020-04-24 (11 days ago)

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