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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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]

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