It is explained at 'GRUB_DEFAULT' what is the default. At least in
Xenial and later the documentation states:
'GRUB_HIDDEN_TIMEOUT'
Wait this many seconds before displaying the menu. If <ESC> is
pressed during that time, display the menu and wait for input
according to 'GRUB_TIMEOUT'. If a hotkey associated with a menu
entry is pressed, boot the associated menu entry immediately. If
the timeout expires before either of these happens, display the
menu for the number of seconds specified in 'GRUB_TIMEOUT' before
booting the default entry.
If you set 'GRUB_HIDDEN_TIMEOUT', you should also set
'GRUB_TIMEOUT=0' so that the menu is not displayed at all unless
<ESC> is pressed.
This option is unset by default, and is deprecated in favour of the
less confusing 'GRUB_TIMEOUT_STYLE=countdown' or
'GRUB_TIMEOUT_STYLE=hidden'.
** Changed in: grub2 (Ubuntu)
Status: Confirmed => Fix Released
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https://bugs.launchpad.net/bugs/978994
Title:
GRUB_HIDDEN_TIMEOUT is badly documented
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