Ryan, I think you are experiencing
https://bugs.launchpad.net/ubuntu/+source/nfs-utils/+bug/2059197 which
is a regression on focal from a previous update that also tried to
address the version negotiation. There is a new nfs-utils package in
focal-proposed to address that, would you mind trying it out? The
instructions are in that bug.

** Package changed: util-linux (Ubuntu) => nfs-utils (Ubuntu)

** Changed in: nfs-utils (Ubuntu)
       Status: New => Incomplete

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https://bugs.launchpad.net/bugs/2063381

Title:
  NFS Client can't mount via NFS version 4.0

Status in nfs-utils package in Ubuntu:
  Incomplete

Bug description:
  When specifying vers=4.0 or nfsvers=4.0 in NFSv4 mount options, the
  client ends up using version 4.2 instead. This option seems to be
  ignored.

  This happens with pam_mount and manual mount. We have been using
  pam_mount for years with the option vers=4.0, but now it appears to be
  broken. Just recently noticed this is happening while troubleshooting
  root causes of some other issues on our servers.

  Test: mounting manually with option: minorversion=0, the client does not 
mount, no errors are seen with -vvv, no errors in logs either, it just fails 
silently.
  With pam_mount this option fails as well but is logged as mount failed into 
auth.log
  ex: Apr 24 17:15:22 servername sshd[666278]: (pam_mount.c:522): mount of 
/mnt/nfs/home/admin_username failed

  other nfs4 mount options we are using:
  sec=krb5p,noatime,nodiratime,async

  
  I see that something similar was fixed in autofs, but this is not autofs 
related, as we do not use it. https://bugs.launchpad.net/bugs/1818121

  Found a similar [oracle] issue but cannot read it=
  
https://support.oracle.com/knowledge/Oracle%20Linux%20and%20Virtualization/2528012_1.html

  ---

  Description:    Ubuntu 20.04.6 LTS
  Release:        20.04

  ---
  util-linux:
    Installed: 2.34-0.1ubuntu9.6
    Candidate: 2.34-0.1ubuntu9.6
    Version table:
   *** 2.34-0.1ubuntu9.6 500
          500 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 
Packages
          500 http://us.archive.ubuntu.com/ubuntu focal-security/main amd64 
Packages
          100 /var/lib/dpkg/status
       2.34-0.1ubuntu9 500
          500 http://us.archive.ubuntu.com/ubuntu focal/main amd64 Packages

  mount:
    Installed: 2.34-0.1ubuntu9.6
    Candidate: 2.34-0.1ubuntu9.6
    Version table:
   *** 2.34-0.1ubuntu9.6 500
          500 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 
Packages
          500 http://us.archive.ubuntu.com/ubuntu focal-security/main amd64 
Packages
          100 /var/lib/dpkg/status
       2.34-0.1ubuntu9 500
          500 http://us.archive.ubuntu.com/ubuntu focal/main amd64 Packages

  nfs-common:
    Installed: 1:1.3.4-2.5ubuntu3.6
    Candidate: 1:1.3.4-2.5ubuntu3.6
    Version table:
   *** 1:1.3.4-2.5ubuntu3.6 500
          500 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 
Packages
          100 /var/lib/dpkg/status
       1:1.3.4-2.5ubuntu3.3 500
          500 http://us.archive.ubuntu.com/ubuntu focal-security/main amd64 
Packages
       1:1.3.4-2.5ubuntu3 500
          500 http://us.archive.ubuntu.com/ubuntu focal/main amd64 Packages

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