Workaround that seems to work:

Running ir-keytable -t as my user gave "permission denied" on
/dev/input/event16 and /dev/lirc0.  After adding my user to the "input"
and "video" groups that own those devices, the remote works correctly.
However, I also have to manually load the custom keymap before I login
as my user to make it work (sudo ir-keytable -w /etc/rc_keymaps/<custom
keymap>.toml).  Not sure why that no longer happens automatically during
boot or why a kernel change coincides with all these issues.  Currently
running kernel 5.4.0-58-generic with this workaround.

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https://bugs.launchpad.net/bugs/1901089

Title:
  Ubuntu kernels 5.4.0-51 and 5.4.0-52 break ir-keytable loading

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