I am running the 5.4.0-32-generic kernel from focal-proposed, and rtkit-
daemon seems to be working normally now.

: kai@dipper kai; uname -r
5.4.0-32-generic
: kai@dipper kai; journalctl -b0 -u rtkit-daemon
-- Logs begin at Fri 2020-01-03 16:35:36 EST, end at Tue 2020-05-19 11:02:23 
EDT. --
May 19 10:59:19 dipper systemd[1]: Starting RealtimeKit Scheduling Policy 
Service...
May 19 10:59:19 dipper systemd[1]: Started RealtimeKit Scheduling Policy 
Service.
May 19 10:59:19 dipper rtkit-daemon[2535]: Successfully called chroot.
May 19 10:59:19 dipper rtkit-daemon[2535]: Successfully dropped privileges.
May 19 10:59:19 dipper rtkit-daemon[2535]: Successfully limited resources.
May 19 10:59:19 dipper rtkit-daemon[2535]: Running.
May 19 10:59:19 dipper rtkit-daemon[2535]: Canary thread running.
May 19 10:59:19 dipper rtkit-daemon[2535]: Watchdog thread running.
May 19 10:59:19 dipper rtkit-daemon[2535]: Successfully made thread 2444 of 
process 2444 owned by '123' high priority at nice level -11.
May 19 10:59:19 dipper rtkit-daemon[2535]: Supervising 1 threads of 1 processes 
of 1 users.
May 19 10:59:19 dipper rtkit-daemon[2535]: Supervising 1 threads of 1 processes 
of 1 users.
May 19 10:59:19 dipper rtkit-daemon[2535]: Successfully made thread 2682 of 
process 2444 owned by '123' RT at priority 5.
May 19 10:59:19 dipper rtkit-daemon[2535]: Supervising 2 threads of 1 processes 
of 1 users.
May 19 10:59:19 dipper rtkit-daemon[2535]: Supervising 2 threads of 1 processes 
of 1 users.
⋮

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https://bugs.launchpad.net/bugs/1875665

Title:
  rtkit-daemon[*]: Failed to make ourselves RT: Operation not permitted
  after upgrade to 20.04

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