I am not sure, whether this is the right place to mention this. If not,
please give me a hint where to direct the issue.

As a result of the removed libboost-signals-dev package, including Boost with 
the CMake module BoostConfig.cmake fails with an error. I suspect, that this 
module is installed as part of the Ubuntu Boost package. It probably needs to 
be adapted to drop the Signals library.
The exact error message is:

CMake Error at 
/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake:117 
(find_package):
  Could not find a package configuration file provided by "boost_signals"
  (requested version 1.71.0) with any of the following names:

    boost_signalsConfig.cmake
    boost_signals-config.cmake

  Add the installation prefix of "boost_signals" to CMAKE_PREFIX_PATH or set
  "boost_signals_DIR" to a directory containing one of the above files.  If
  "boost_signals" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake:182 
(boost_find_component)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:443 (find_package)
  
/home/fm/autoenv_ws/src/mrt_cmake_modules/cmake/Modules/FindAutoDeps.cmake:196 
(find_package)
  
/home/fm/autoenv_ws/src/mrt_cmake_modules/cmake/Modules/FindAutoDeps.cmake:253 
(_find_dep)
  CMakeLists.txt:21 (find_package)

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https://bugs.launchpad.net/bugs/1876788

Title:
  libboost-signals-dev not present in focal (64 bit)

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