I got upgraded back to 470 because new 460 transitional dummy packages
were released, which caused the upgrade. I could have prevented that via
apt-mark hold.

When I was getting these problems with 470 I had
nvidia.NVreg_PreserveVideoMemoryAllocations=1 in my kernel command line,
via /etc/default/grub. After being upgraded to 470 again, I changed that
to nvidia.NVreg_PreserveVideoMemoryAllocations=0. So far, waking from
sleep has been reliable. (Also, neither Firefox nor KDE Plasma have
problems after sleep with this. I had set that option to 1 in the past
because it seemed to help with earlier versions of Firefox and Plasma.)

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https://bugs.launchpad.net/bugs/1946303

Title:
  No video after wake from S3 due to Nvidia driver crash

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