I also confirm that I also had this problem on an HP Envy laptop after
upgrading to Ubuntu 20.04.

@orlapa solution worked but first going to Legacy Boot Mode in BIOS as
@awlsomealex said is very convenient to be able to boot first and then
to edit the grub configuration.

Thanks a lot !

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https://bugs.launchpad.net/bugs/1863434

Title:
  20.04 grub menu not visible

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