I can also confirm that symlinking libusbmuxd.so.6.0.0 to
libusbmuxd.so.4 appears to allow the upower service to start as well.
systemctl now shows the service started successfully and is running, and
I am able to see power / battery status in Gnome again.

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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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