I think I have a very related (or the same) error (or multiple errors).
A lot of logs here: 
https://askubuntu.com/questions/1236721/desktop-hung-up-freeze-gpuwatchdog-segfault-nvidia-frontend-close

(Not sure if they are all the same cause, or different... I think they
are the same.)

When you search the Internet for "NVRM: Xid 31" errors, you will find
quite a lot of results, also a lot of recent results.

In my (most recent) case, I have Nvidia driver 450.80.02, and Linux
kernel 5.4.0-59.

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https://bugs.launchpad.net/bugs/1852002

Title:
  Desktop frozen for 30 seconds after Nvidia driver crash

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