A fix was committed upstream and backported to the stable kernels:

The commit in Linux 5.4 stable (v5.4.53):
https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git/commit/?h=linux-5.4.y&id=e93ab4628452e0869c24204ac495e558b4163149

The commit in Linux 5.7 stable (v5.7.10):
https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git/commit/?h=linux-5.7.y&id=996b680d729c4e5aa7087080cc9e469a4f7b86d7

This bug can be closed once Ubuntu's kernel contains these upstream
changes.

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https://bugs.launchpad.net/bugs/1876449

Title:
  Apple external Trackpad event timestamps are jittery

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