I also noticed just now that this kernel from the 20 track does seem to work 
fine on uc20 systems:
pi-kernel        5.4.0-1042.46  331    20/beta

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https://bugs.launchpad.net/bugs/1938912

Title:
  Bad Linux ARM64 Image magic

Status in linux-raspi-5.4 package in Ubuntu:
  New

Bug description:
  on all pi devices we are testing (rpi3, 3b+, cm3, rpi4, etc...) when
  refreshing the kernel snap to the 5.4 kernel in 18-pi (r333), it fails
  to boot. Here's the serial log on the failed boot from one of those
  devices:

  Hit any key to stop autoboot:  0 
  WARNING at 
/build/u-boot-GPcj9K/u-boot-2019.07+dfsg/drivers/mmc/bcm2835_sdhost.c:408/bcm2835_send_command()!
  WARNING at 
/build/u-boot-GPcj9K/u-boot-2019.07+dfsg/drivers/mmc/bcm2835_sdhost.c:408/bcm2835_send_command()!
  switch to partitions #0, OK
  mmc0(part 0) is current device
  LOADBOOTENV
  Running uenvcmd ...
  ENVCMD
  Saving Environment to FAT... OK
  8624908 bytes read in 367 ms (22.4 MiB/s)
  3947036 bytes read in 171 ms (22 MiB/s)
  67581 bytes read in 22 ms (2.9 MiB/s)
  Bad Linux ARM64 Image magic!

  Armhf seems to be booting just fine after the refresh.

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