I got this reproduced when retrying again for another case-
Actually not too hart to hit :-/

Taking a Focal system with the version of qemu-guest-agent you reported
and then making sure it is installed, up and running:

● qemu-guest-agent.service - QEMU Guest Agent
     Loaded: loaded (/lib/systemd/system/qemu-guest-agent.service; static; 
vendor preset: enabled)
     Active: active (running) since Tue 2020-06-02 05:25:04 UTC; 3min 8s ago
   Main PID: 624 (qemu-ga)
      Tasks: 1 (limit: 533)
     Memory: 900.0K
     CGroup: /system.slice/qemu-guest-agent.service
             └─624 /usr/sbin/qemu-ga

Pass a shutdown command through virsh:
  $ virsh shutdown focal --mode agent

The guest almost immediately went down, without "functional" issues.
But when checking the logs later I found:
Jun 02 05:29:54 focal qemu-ga[624]: 
ERROR:/build/qemu-74sXTC/qemu-4.2/qga/main.c:532:send_response: assertion 
failed: (rsp && s->channel)
Jun 02 05:29:54 focal qemu-ga[624]: Bail out! 
ERROR:/build/qemu-74sXTC/qemu-4.2/qga/main.c:532:send_response: assertion 
failed: (rsp && s->channel)

** Changed in: qemu (Ubuntu)
       Status: Incomplete => Confirmed

** Description changed:

+ It is not yet sure if this triggers a functional issue, but it certainly
+ looks wrong and might trigger a crash dump & report.
+ 
+ Taking a Focal system with the version of qemu-guest-agent you reported
+ and then making sure it is installed, up and running:
+ 
+ ● qemu-guest-agent.service - QEMU Guest Agent
+      Loaded: loaded (/lib/systemd/system/qemu-guest-agent.service; static; 
vendor preset: enabled)
+      Active: active (running) since Tue 2020-06-02 05:25:04 UTC; 3min 8s ago
+    Main PID: 624 (qemu-ga)
+       Tasks: 1 (limit: 533)
+      Memory: 900.0K
+      CGroup: /system.slice/qemu-guest-agent.service
+              └─624 /usr/sbin/qemu-ga
+ 
+ Pass a shutdown command through virsh:
+   $ virsh shutdown focal --mode agent
+ 
+ The guest almost immediately went down, without "functional" issues.
+ But when checking the logs later I found:
+ Jun 02 05:29:54 focal qemu-ga[624]: 
ERROR:/build/qemu-74sXTC/qemu-4.2/qga/main.c:532:send_response: assertion 
failed: (rsp && s->channel)
+ Jun 02 05:29:54 focal qemu-ga[624]: Bail out! 
ERROR:/build/qemu-74sXTC/qemu-4.2/qga/main.c:532:send_response: assertion 
failed: (rsp && s->channel)
+ 
+ ---
+ 
  Completely new/fresh focal / mate install.  Crash during initial apt install 
of many packages after first log-in, including qemu-guest-agent.   No other 
important load other than apt running. OS running in a vm as a guest 
(obviously...)  No idea what caused it.  Including crash report.
-  VM was 2 penryn class cpus with 3G ram.
+  VM was 2 penryn class cpus with 3G ram.
  
  ProblemType: Bug
  DistroRelease: Ubuntu 20.04
  Package: qemu-guest-agent 1:4.2-3ubuntu6
  ProcVersionSignature: Ubuntu 5.4.0-29.33-generic 5.4.30
  Uname: Linux 5.4.0-29-generic x86_64
  ApportVersion: 2.20.11-0ubuntu27
  Architecture: amd64
  CasperMD5CheckResult: skip
  CurrentDesktop: MATE
  Date: Fri May 15 13:20:02 2020
  InstallationDate: Installed on 2020-05-13 (1 days ago)
  InstallationMedia: Ubuntu-MATE 20.04 LTS "Focal Fossa" - Release amd64 
(20200423)
  SourcePackage: qemu
  UpgradeStatus: No upgrade log present (probably fresh install)

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https://bugs.launchpad.net/bugs/1878973

Title:
  clean focal install,  crash report qemu-guest-agent

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