Yes, that is expected according to:
https://wiki.ubuntu.com/UAclient#General
"What about releases other than Ubuntu 14.04 LTS?
Support for the client on Ubuntu 16.04 LTS (Xenial)+ is coming."
In other words, "ua" is not available on Xenial.
$ apt-file search /usr/bin/ua
libopengm-bin: /usr/bin/uai2opengm
uapevent: /usr/bin/uapevent
uaputl: /usr/bin/uaputl
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https://bugs.launchpad.net/bugs/1857943
Title:
ua command does not exist, can't enable or install from esm
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