Hmm thanks Raphaël.
So files were still around that were unowned, that really should not happen.
Thanks for the exact file names.

The files you had in your case were part of libseccomp2 2.3.1-2.1ubuntu4 which 
is what Ubuntu had in Bionic-release.
 libseccomp2 | 2.3.1-2.1ubuntu4             | bionic           |

But before you'd be able to upgrade to Focal (do-release-upgrade will otherwise 
block) that would even in Bionic be upgraded to 2.4.3-1ubuntu3.18.04.3
 libseccomp2 | 2.4.3-1ubuntu3.18.04.3       | bionic-security  |
 libseccomp2 | 2.4.3-1ubuntu3.18.04.3       | bionic-updates   |

On that upgrade these files would vanish.

I've taken a Bionic system, downgraded to 2.3.1-2.1ubuntu4 and from there 
upgraded the package.
The files went away as one would expect:

root@b:~# ll /lib/x86_64-linux-gnu/libseccomp.so*
lrwxrwxrwx 1 root root     19 Mar  1  2018 
/lib/x86_64-linux-gnu/libseccomp.so.2 -> libseccomp.so.2.3.1
-rw-r--r-- 1 root root 280776 Mar  1  2018 
/lib/x86_64-linux-gnu/libseccomp.so.2.3.1
root@b:~# apt install libseccomp2
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following packages will be upgraded:
  libseccomp2
1 upgraded, 0 newly installed, 0 to remove and 28 not upgraded.
Need to get 42.0 kB of archives.
After this operation, 29.7 kB of additional disk space will be used.
Get:1 http://archive.ubuntu.com/ubuntu bionic-updates/main amd64 libseccomp2 
amd64 2.4.3-1ubuntu3.18.04.3 [42.0 kB]
Fetched 42.0 kB in 0s (312 kB/s)       
(Reading database ... 43328 files and directories currently installed.)
Preparing to unpack .../libseccomp2_2.4.3-1ubuntu3.18.04.3_amd64.deb ...
Unpacking libseccomp2:amd64 (2.4.3-1ubuntu3.18.04.3) over (2.3.1-2.1ubuntu4) ...
Setting up libseccomp2:amd64 (2.4.3-1ubuntu3.18.04.3) ...
Processing triggers for libc-bin (2.27-3ubuntu1.2) ...
root@b:~# ll /lib/x86_64-linux-gnu/libseccomp.so*
lrwxrwxrwx 1 root root     19 Jun 29 12:52 
/lib/x86_64-linux-gnu/libseccomp.so.2 -> libseccomp.so.2.4.3
-rw-r--r-- 1 root root 309456 Jun 29 12:52 
/lib/x86_64-linux-gnu/libseccomp.so.2.4.3


Do you have any chance (backup, snapshot or anything) to check which package 
(if any) owned these files on your Bionic system before upgrade?

Furthermore from your system it might be interesting to get /var/log/dpkg.log* 
attached here.
Not sure one can find something in there, but we could track exactly what 
happened to your libseccomp2 in the past - maybe that reconstruction helps to 
find how/why these files got left on your disk.

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https://bugs.launchpad.net/bugs/1876486

Title:
  Kernel panic booting after 18.04 to 20.04 upgrade

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