I have had this same problem with my Dell Inspiron 5593 since January
2020 when I was on 18.04.  Upgrading to 20.04 in June 2020 resulted in
no change of the behavior.

Neither workaround works for me.  "rmmod tpm" in grub results in an
error due to the module not being present.

Rebooting resolves the issue, usually within 3 attempts, however I have
had to reboot 7 times more than once to get past the "you need to load
the kernel first".

Waiting a few seconds before hitting enter when the grub boot selection
screen appears seems to improve the chances of the boot working, but
this is anecdotal and could be completely random.

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https://bugs.launchpad.net/bugs/1883785

Title:
  intermittent boot failure dell inspiron 3593

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