I was able to confirm that if I started from a clean install of Ubuntu
20.04 I could copy the 18.04 .dtbo file per the workaround described
above and get the board to boot with the usercfg.txt /  dtoverlay=vc4
-kms-v3d setting in place.

I was unable to make it work on my initial install, which I had been
using for about a week.

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https://bugs.launchpad.net/bugs/1889223

Title:
  vc4-kms-v3d boot failure focal armhf preinstalled server

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