All, I had same issue and on my Mac following worked for me.

1) make sure "DEFAULT_TIMEOUT_STYLE=hidden" is either commented out or has 
'menu' as value, in /etc/default/grub.
2) copy grubx64.efi to shimx64.efi in /boot/efi/EFI/ubuntu/

I was having error related to MokListRT, something like, "Failed to set
MokListRT: Invalid Parameter". So copying grubx64.efi to shimx64.efi
fixed that error plus now the menu is showing properly.

Not sure if this will be the case on PCs as well but at least those of
you having similar issue on a Mac can try.

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

Title:
  20.04 grub menu not visible

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