I was able to reproduce the issue on RPI 2 B 1.1 with an USB wifi dongle, too.
Looking into the root cause.

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https://bugs.launchpad.net/bugs/1870410

Title:
  wireless does not work on boot on RPi 3s

Status in systemd package in Ubuntu:
  Confirmed
Status in systemd source package in Focal:
  Confirmed

Bug description:
  I've setup a wireless config in /etc/netplan/config.yaml and it does
  not activate on boot. I have to run 'sudo netplan apply' to get my
  wireless connected. This works fine on an RPi4 but not an RPi3B.

  ProblemType: Bug
  DistroRelease: Ubuntu 20.04
  Package: systemd 245.2-1ubuntu2
  ProcVersionSignature: User Name 5.4.0-1006.6-raspi2 5.4.24
  Uname: Linux 5.4.0-1006-raspi2 armv7l
  ApportVersion: 2.20.11-0ubuntu21
  Architecture: armhf
  Date: Thu Apr  2 19:02:27 2020
  Lspci:
   
  Lsusb:
   Bus 001 Device 007: ID 0424:ec00 Microchip Technology, Inc. (formerly SMSC) 
SMSC9512/9514 Fast Ethernet Adapter
   Bus 001 Device 006: ID 0424:9514 Microchip Technology, Inc. (formerly SMSC) 
SMC9514 Hub
   Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Lsusb-t:
   /:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=dwc_otg/1p, 480M
       |__ Port 1: Dev 6, If 0, Class=Hub, Driver=hub/5p, 480M
           |__ Port 1: Dev 7, If 0, Class=Vendor Specific Class, 
Driver=smsc95xx, 480M
  ProcKernelCmdLine: coherent_pool=1M 8250.nr_uarts=1 bcm2708_fb.fbwidth=656 
bcm2708_fb.fbheight=416 bcm2708_fb.fbswap=1 smsc95xx.macaddr=B8:27:EB:FF:6B:0F 
vc_mem.mem_base=0x3ec00000 vc_mem.mem_size=0x40000000  net.ifnames=0 
dwc_otg.lpm_enable=0 console=ttyS0,115200 console=tty1 root=LABEL=writable 
rootfstype=ext4 elevator=deadline rootwait fixrtc quiet splash
  SourcePackage: systemd
  UpgradeStatus: No upgrade log present (probably fresh install)

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