I have the same problem.

I've installed Windows 10 with Secure Boot enabled, then I've installed
Ubuntu 18.04.5 without Secure Boot, the menu was not displayed, I
thought it was because of the Secure Boot, but...

My notebook (Dell Inspiron 5537) has a battery problem and displays a message 
asking to press F1 key to continue or F2 for settings. 
I removed the battery and the grub graphical menu was displayed without a 
problem.

With the battery connected I had to use the `GRUB_TERMINAL=console`
option to show the menu.

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https://bugs.launchpad.net/bugs/1863434

Title:
  20.04 grub menu not visible

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