Update: I fixed my problem by updating the BIOS.

System: HP PAVILION 550-257NG

I was running BIOS version A0.13 and updated to version A0.20. After reboot, I 
ran 
sudo dpkg --configure -a

Setting up grub-efi-amd64-signed (1.93.5+2.02-2ubuntu8.4) ...
Installing for x86_64-efi platform.
Installation finished. No error reported.
Setting up shim-signed (1.34.9.2+13-0ubuntu2) ...
Installing for x86_64-efi platform.
Installation finished. No error reported.


Incidentally, for those on this particular (or similar) HP desktops, the BIOS 
download executable can unfortunately only be run on Windows (due to the use of 
an HP proprietary SoftPAQ download/extraction manager obscuring the BIOS .bin 
file needed), so either use your Windows partition or use a different Windows 
computer. After the "press any key to continue the SoftPAQ update process" 
command prompt screen, do press any key -- don't worry, it won't flash your 
other system, it would check the SSID and realize that you are not using the HP 
computer, then offer the possibility to create a recovery USB for applying the 
update to your system using the UFEI recovery options on boot.

HP-specific instructions: 
https://support.hp.com/us-en/product/hp-pavilion-550-200-desktop-pc-series/9259612/model/10683933/document/c00007682
 
Refer to "Update the BIOS when Windows do not start" if you do not have a 
Windows partition. 
Step 6 in the instruction on creating a USB stick only appeared after I pressed 
a key on the "continue the SoftPAQ update process" command prompt screen.

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https://bugs.launchpad.net/bugs/1790994

Title:
  package grub-efi-amd64-signed 1.93.5+2.02-2ubuntu8.4 failed to
  install/upgrade: installed grub-efi-amd64-signed package post-
  installation script subprocess returned error exit status 1

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