I might be experiencing same/similar bug on a fresh install of 20.04. I
don't have a Yubikey. Or at least I don't think I do :).

In my case the bug is triggered when I try to open a folder needing root
permissions. Sometimes I get an auth dialog and it let's me browse the
folder. More often I just get a spinning wheel and nothing happens... or
so I think, until I lock my computer. Upon unlocking it, I get a stuck
auth window, which is not entirely unlike the one OP is getting (see
screen shot attached).

There is no way to get rid of the window, other than reload gnome-shell.
(Thanks polalbert!)

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Packages, which is subscribed to gnome-shell in Ubuntu.
https://bugs.launchpad.net/bugs/1824874

Title:
  undismissable, unclickable authentication dialog left on screen (top-
  left corner) after policykit authentication [pushModal: invocation of
  begin_modal failed]

Status in gnome-shell package in Ubuntu:
  Confirmed

Bug description:
  In disco, when policykit prompted me for a password in order for
  update-manager to dispatch instructions to aptdaemon to perform
  package updates, the password dialog remained on the screen after I
  clicked 'authenticate'.

  The window is not clickable, it appears not to even be a window -
  mouse presses are received by the window underneath.  The exception is
  that the 'cancel' button is active and receives mouse events - but
  clicking it does nothing.

  This may be a gnome-shell issue rather than policykit.

  ProblemType: Bug
  DistroRelease: Ubuntu 19.04
  Package: policykit-1 0.105-25
  ProcVersionSignature: Ubuntu 5.0.0-8.9-generic 5.0.1
  Uname: Linux 5.0.0-8-generic x86_64
  NonfreeKernelModules: zfs zunicode zavl icp zcommon znvpair
  ApportVersion: 2.20.10-0ubuntu27
  Architecture: amd64
  CurrentDesktop: ubuntu:GNOME
  Date: Mon Apr 15 13:14:33 2019
  InstallationDate: Installed on 2010-09-24 (3125 days ago)
  InstallationMedia: Ubuntu 10.04.1 LTS "Lucid Lynx" - Release amd64 
(20100816.1)
  SourcePackage: policykit-1
  UpgradeStatus: Upgraded to disco on 2019-04-11 (3 days ago)

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