Can you give the latest mainline kernel a try to see if this issue exists in 
the upstream?
https://kernel.ubuntu.com/~kernel-ppa/mainline/v5.14-rc7/

Please download and install amd64/build generic deb files (files marked
A, see section "How do I install an upstream kernel?" in
https://wiki.ubuntu.com/Kernel/MainlineBuilds)

I also a build a kernel for debug in
https://people.canonical.com/~mschiu77/lp1939347/lock_dbg/. Please also
test this kernel and paste the journal log of the command "journalctl -k
-b -1 > journal.log" after reboot. Thanks

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https://bugs.launchpad.net/bugs/1939347

Title:
  Ubuntu 20.04 freeze since kernel 5.11

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