The menu is automatically shown in all critical scenarios:

- The default kernel fails to boot
- The boot success cannot be recorded because grub has no write support for 
/boot 

If you need to temporarily boot another kernel for other cases, you can
change the time out manually and run update-grub or you could set a
temporary next entry by grub-editenv set next_entry=<I think this takes
the uuid-ish-id>

Sacrificing boot speed for improving the access to a boot menu that is
not critically needed does not seem the correct trade-off.

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https://bugs.launchpad.net/bugs/1756659

Title:
  Please enable grub hidden timeout by default

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