Workaround:

After further investigation, I found that in my case the popup was triggered by 
xiccd, which was automatically launched during session startup (XFCE in my 
case).
xiccd attempts to interact with the system color management daemon (colord), 
which in turn requests elevated privileges through Polkit — resulting in the 
authentication popup.

To fix this cleanly, I added the following JavaScript-based Polkit rule,
which works on modern systems using /etc/polkit-1/rules.d/:

/etc/polkit-1/rules.d/20-disable-colord.rules

polkit.addRule(function(action, subject) {
    if (action.id.startsWith("org.freedesktop.color-manager.")) {
        return polkit.Result.NO;
    }
});

This workaround finally made the startup clean again — no more mystery
prompts asking for root without context. This workaround does not solve
the root problem, this rule blocks all actions coming from colord or
anything trying to use color profile management (including xiccd).

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https://bugs.launchpad.net/bugs/1871593

Title:
  User receives prompt on login: "Authentication is required to create a
  color managed device"

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https://bugs.launchpad.net/ubuntu/+source/colord/+bug/1871593/+subscriptions


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