Most days, when this occurs, I just open up my lid and/or tap the power
button and it wakes up, and I close the lid again once it is awake.

In my particular case, when I wake up my laptop, my CableMatters
201055-BLK thunderbolt  port replicator sends my dual display 1440p
monitors into 1080p briefly as my 2160p laptop panel comes to life; I
close the lid and everything is back to normal on my dual 1440p panels.

All to say, I can wake up my system by opening the lid and/or hitting
the power button.

If I had to bet, I'd say the thunderbolt port replicator implementation
is part of the problem, as I see quirks with the various gadget drivers
running across it regularily that, thankfully, do not impact me as they
are not in my usual use case:

a) Using PD via the replicator sometimes requires re-plug before laptop detects 
power and I don't think the charging is quite as fast, possibly not ramping up 
the the Max Dell power rates for the port
b) Moving my Logitech keyboard/mouse dongle to the replicator from a local port 
results in sometimes getting keyboard timeouts (even though the mouse is fine 
over same dongle)
c) Opening the lid, the displays do not always switch modes correctly to the 3 
screens (2 x 1440p and 1 x 2160p panel) and sometimes as bad as what appears to 
be a useless 800x600 section of the actual desktop shown on one of the external 
displays, closing the lid always returns to proper dual 1440p 

These are the devices that enumerate on my replicator, with 04b4:f649
being the main one driving the Displays and thunderbolt and the FE and
USB devices attached.

Bus 001 Device 011: ID 0bda:8152 Realtek Semiconductor Corp. RTL8152 Fast 
Ethernet Adapter
Bus 001 Device 010: ID 04b4:f649 Cypress Semiconductor Corp. 
Bus 001 Device 009: ID 1a40:0101 Terminus Technology Inc. Hub

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Desktop Bugs, which is subscribed to mutter in Ubuntu.
https://bugs.launchpad.net/bugs/1841826

Title:
  Going to sleep instead of logging in while lid closed & external
  display

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https://bugs.launchpad.net/ubuntu/+source/gnome-settings-daemon/+bug/1841826/+subscriptions

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