I should make it clear that you need the kernel and the updated BIOS and
dock firmware at or beyond the versions I state. All 3 are needed.

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

Title:
  Thunderbolt Dock Loses Monitors

Status in linux package in Ubuntu:
  In Progress

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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