Your netplan config has enp3s0 as your main interface, and by default
that is required for boot, which is why your boot is delayed when you
don't have it connected.

Change your netplan 01-netcfg.yaml file to:

# This file describes the network interfaces available on your system
# For more information, see netplan(5).
  version: 2
  renderer: networkd
      dhcp4: yes
      optional: yes
      dhcp4: yes
      optional: yes

that should start dhcp4 on both your ethernet ports, but also won't
delay your boot.  See the netplan man page for more details about its
config params.

** Changed in: systemd (Ubuntu)
       Status: New => Incomplete

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  systemd-networkd-wait-online & two ethernet on board

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