I upgraded my kernel to 5.6.0-1020-oem in order to test.  The issue is
better then, but not resolved.  When using the lock screen one out of
the two monitors is lost.

This errors are in dmesg:
[257474.965612] [drm:intel_dp_link_training_clock_recovery [i915]] *ERROR* 
failed to get link status
[257474.974761] [drm:intel_cpu_fifo_underrun_irq_handler [i915]] *ERROR* CPU 
pipe B FIFO underrun

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https://bugs.launchpad.net/bugs/1889342

Title:
  Thunderbolt Dock Loses Monitors

Status in linux package in Ubuntu:
  Confirmed

Bug description:
  After a suspend or locking the only way to regain external monitors is
  to unplug and replug the thunderbolt dock back in.

  ProblemType: Bug
  DistroRelease: Ubuntu 20.04
  Package: linux-image-5.4.0-42-generic 5.4.0-42.46
  ProcVersionSignature: Ubuntu 5.4.0-42.46-generic 5.4.44
  Uname: Linux 5.4.0-42-generic x86_64
  ApportVersion: 2.20.11-0ubuntu27.4
  Architecture: amd64
  AudioDevicesInUse:
   USER        PID ACCESS COMMAND
   /dev/snd/controlC1:  john       2682 F.... pulseaudio
   /dev/snd/controlC0:  john       2682 F.... pulseaudio
  CasperMD5CheckResult: skip
  CurrentDesktop: ubuntu:GNOME
  Date: Wed Jul 29 00:22:26 2020
  DistributionChannelDescriptor:
   # This is the distribution channel descriptor for the OEM CDs
   # For more information see 
http://wiki.ubuntu.com/DistributionChannelDescriptor
   canonical-oem-somerville-focal-amd64-20200502-85
  InstallationDate: Installed on 2020-07-13 (15 days ago)
  InstallationMedia: Ubuntu 20.04 "Focal" - Build amd64 LIVE Binary 
20200502-05:58
  MachineType: Dell Inc. XPS 13 9300
  ProcEnviron:
   TERM=xterm-256color
   PATH=(custom, no user)
   XDG_RUNTIME_DIR=<set>
   LANG=en_US.UTF-8
   SHELL=/bin/bash
  ProcFB: 0 i915drmfb
  ProcKernelCmdLine: BOOT_IMAGE=/boot/vmlinuz-5.4.0-42-generic 
root=UUID=5e141eb0-e03b-4c39-b826-f94e0d2715ea ro quiet splash vt.handoff=7
  RelatedPackageVersions:
   linux-restricted-modules-5.4.0-42-generic N/A
   linux-backports-modules-5.4.0-42-generic  N/A
   linux-firmware                            1.187.2
  SourcePackage: linux
  UpgradeStatus: No upgrade log present (probably fresh install)
  dmi.bios.date: 05/08/2020
  dmi.bios.vendor: Dell Inc.
  dmi.bios.version: 1.0.11
  dmi.board.name: 0WX9VX
  dmi.board.vendor: Dell Inc.
  dmi.board.version: A00
  dmi.chassis.type: 10
  dmi.chassis.vendor: Dell Inc.
  dmi.modalias: 
dmi:bvnDellInc.:bvr1.0.11:bd05/08/2020:svnDellInc.:pnXPS139300:pvr:rvnDellInc.:rn0WX9VX:rvrA00:cvnDellInc.:ct10:cvr:
  dmi.product.family: XPS
  dmi.product.name: XPS 13 9300
  dmi.product.sku: 096D
  dmi.sys.vendor: Dell Inc.

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