I experienced this same issue today after upgrading to Ubuntu 21.04 also
on a Dell 7140 with the same trackpad.

I followed the above advice:
1. install xserver-xorg-input-synaptics package -> sudo apt install 
xserver-xorg-input-synaptics -y
2. Masking the service fwupd using systemctl mask fwupd.service command

...and my trackpad is now working again.

Kernel 5.4.0-42 isn't packaged for Ubuntu 21.04 so I couldn't do the
last steps, but it seems I didn't need them.

So, from this, it seems that fwupd is trying to do some firmware update
in relation to the trackpad which is giving the trackpad into a hissy
fit.  Disable fwupd, no update.  No update, no problems. :-)

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https://bugs.launchpad.net/bugs/1877655

Title:
  [Dell Venue 11 Pro 7140] Trackpad does not work

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