If I keep an initrd image of a kernel before installing the "modules-
extra" I got finally my system to boot and to work perfectly.

$ sudo cp /boot/initrd.img-5.4.0-74-generic 
/boot/initrd.img-5.4.0-74-generic.wo.extras
$ sudo apt install linux-modules-extra-5.4.0-74-generic
$ sudo mv /boot/initrd.img-5.4.0-74-generic 
/boot/initrd.img-5.4.0-74-generic.extras
$ sudo ln -s initrd.img-5.4.0-74-generic.wo.extra 
/boot/initrd.img-5.4.0-74-generic

So, I think that the issue comes from the "modules-extra" package.

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https://bugs.launchpad.net/bugs/1931835

Title:
  [20.04] Boot hangs at "loading initial ramdisk"

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