Since then, I more or less remember the operations I performed with my laptop 
Ubuntu 20.04 install, I think it might be:
- uninstall and purge NVidia proprietary driver
- (re-)install the NVidia proprietary driver
- downgrade then re-upgrade the Linux kernel

and the overheating and fan off problem mysteriously vanished.

Now I find the temperature of my ASUS UX533F is fine, even with high
workload, and I can hear the fan running when needed (when the temp. is
higher than 50°C or so).

But I still have the following (minor in my opinion) issue: sensors
still shows the fan RPM 0 all the time.

Since I don't know how the problem disappeared, I cannot say it is "fixed" and 
it might come back.
Still, I thought it was worth mentioning.

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https://bugs.launchpad.net/bugs/1880012

Title:
  ASUS UX533F overheating and fan off with Ubuntu 20.04 LTS

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