Turns out this seems to be a never ending story and you might have found
a comeback of that issue for your particular configuration as you say
this worked on 18.04 but fails on 20.04.

This goes way back
https://bugzilla.mindrot.org/show_bug.cgi?id=1455
Or half way back
https://trac.macports.org/ticket/49007
https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=618863
https://bugzilla.mindrot.org/show_bug.cgi?id=2119

Other more recent similar issues were around "options edns0" being required to 
be set for this to work now:
https://github.com/NixOS/nixpkgs/issues/12470
https://exanames.typepad.com/blog/2009/06/one-more-thing-to-do-with-dnssec-ssh.html
https://bugzilla.redhat.com/show_bug.cgi?id=1630180
https://bugzilla.redhat.com/show_bug.cgi?id=1878166
Note: that option was the default for /etc/resolv.conf on Bionic/Focal for me.

Various working setups seem to have been affected by 7.5
https://lists.mindrot.org/pipermail/openssh-bugs/2017-April/017631.html
https://lists.mindrot.org/pipermail/openssh-unix-dev/2018-January/036600.html
https://bugzilla.mindrot.org/show_bug.cgi?id=2708

But Bionic -> Focal is openssh version 7.6 -> 8.3

Multiple of the above and some other references refer to requiring ldns support.
That clearly is in openssh since ~v6 but we don't enable it at build time
                   libldns support: no
Is that required and is it now more required than before - I don't know :-/


Sorry, all that I could provide so far was a collection of a (disturbing) 
history of that feature.

** Bug watch added: OpenSSH Portable Bugzilla #1455
   https://bugzilla.mindrot.org/show_bug.cgi?id=1455

** Bug watch added: trac.macports.org #49007
   http://trac.macports.org/ticket/49007

** Bug watch added: Debian Bug tracker #618863
   https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=618863

** Bug watch added: OpenSSH Portable Bugzilla #2119
   https://bugzilla.mindrot.org/show_bug.cgi?id=2119

** Bug watch added: github.com/NixOS/nixpkgs/issues #12470
   https://github.com/NixOS/nixpkgs/issues/12470

** Bug watch added: Red Hat Bugzilla #1630180
   https://bugzilla.redhat.com/show_bug.cgi?id=1630180

** Bug watch added: Red Hat Bugzilla #1878166
   https://bugzilla.redhat.com/show_bug.cgi?id=1878166

** Bug watch added: OpenSSH Portable Bugzilla #2708
   https://bugzilla.mindrot.org/show_bug.cgi?id=2708

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You received this bug notification because you are a member of Ubuntu
Touch seeded packages, which is subscribed to openssh in Ubuntu.
https://bugs.launchpad.net/bugs/1898590

Title:
  Verify DNS fingerprints not working

Status in openssh package in Ubuntu:
  Confirmed

Bug description:
  When setting in /etc/ssh/ssh_config VerifyHostKeyDNS to yes the fingerprints 
are fetched, but the result is always:
  debug1: found n insecure fingerprints in DNS
  With dig +dnssec -tsshfp hostname the result is ok: ad flg is set.

To manage notifications about this bug go to:
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