Confirmed that this is still an issue in focal.

It is only an issue if I log onto a XFCE session and then log out, these two 
processes stay around:
    /usr/libexec/geoclue-2.0/demos/agent
    /usr/bin/python3 /usr/share/system-config-printer/applet.py

When I remove the geoclue-2.0 from the system:
    sudo apt -y purge geoclue-2.0 --autoremove
The issue no longer shows up. I don't see neither processes hanging around any 
more.

I think those two are related to the two autostart programs:
    /etc/xdg/autostart/geoclue-demo-agent.desktop
    /etc/xdg/autostart/print-applet.desktop

I think in terms of workaround, two options here:
    1. remove geoclue - but the catch here is that if you autoremove, gnome 
dependencies may get removed, which could have unexpected outcome
    2. remove autostart files

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https://bugs.launchpad.net/bugs/1871726

Title:
  "systemd --user" and child processes fail to exit when user logs out

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