After some rather meticulous testing, I have come to the very scientific 
conclusion that holding down the shift key works only *some* of the time for 
displaying the GRUB2 menu when GRUB2_HIDDEN_TIMEOUT=0 is set. Repeatedly 
pressing the shift key down increases the chance of success somewhat. When it 
does not succeed, I see the underscore cursor ( _ ) flash for a few seconds, as 
if waiting for me to press a button, but mashing the shift and the esc keys at 
that point does not bring up the GRUB menu.
>From [1], this seems to be intended behaviour:

"During boot, the system will check the SHIFT key status. If it cannot
determine the key status, a short delay will enable the user to display
the menu by pressing the ESC key."

Whilst it seems to wait for me to change my mind, it does not seem to
detect me furiously pressing SHIFT or ESC.

[1] http://wiki.ubuntu.com/Grub2

-- 
[karmic alpha 5] grub2 has no visible pause for menu
https://bugs.launchpad.net/bugs/425979
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