Thank you Don for setting the record straight re shim!

I too installed my own secure boot keys following this tutorial:
https://wiki.gentoo.org/wiki/Sakaki's_EFI_Install_Guide/Configuring_Secure_Boot
. And upon the grub upgrade from 2.04-1ubuntu26 to 2.04-1ubuntu26.2, my
machine failed to boot as well with the same invalid signature message.
The complete message read:

Loading Linux 5.4.0-42-generic ...
error: /boot/vmlinuz-5.4.0-42-generic has invalid signature.
Loading initial ramdisk ...
error: you need to load the kernel first.

I do not have shim installed, precisely because I did not want to use the 
Microsoft keys. 
My setup (full disk encryption and secure boot) worked since May 2019. I could 
have done without the adrenaline buzz when it suddenly stopped working. 
Downgrading all installed grub packages to 2.04-1ubuntu26 made the system work 
again. Thank you Kyle for documenting that!

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https://bugs.launchpad.net/bugs/1890672

Title:
  secure boot fails after upgrade to grub2-common 2.04-1ubuntu26.2

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