I have tried the focal-proposed repo.
# echo "deb http://ports.ubuntu.com/ubuntu-ports focal-proposed universe" > 
/etc/apt/sources.list
$ sudo apt update && sudo apt -t focal-proposed install linux-raspi2 && sudo 
reboot

Reboot is fine, and the dtb file is the latest version.

-> linux-modules-5.4.0-1006-raspi2 fix the issue. Tested on both rpi4b
and rpi3b+

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https://bugs.launchpad.net/bugs/1868222

Title:
  rpi don't boot with 5.4.0-1004-raspi2

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