To make life easier, on the problem Ubuntu machine, I installed ssh server:
   sudo apt install openssh-server
and left an open ssh connection to it from another RPi.
When the Ubuntu machine display froze, the OS itself was still running, and 
from other machine, I unlocked the Ubuntu lockup with
   sudo service gdm restart
I don't like rebooting a machine by cutting power for ... reasons.
I've not tried the s/kms/fkms trick yet,  but I am doing daily updates.  I'm 
also getting a lot up uptime between freezes.

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https://bugs.launchpad.net/bugs/1946368

Title:
  HDMI output freezes under current/proposed impish kernels

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