Same here with a fresh Ubuntu 20.04 LTS on a laptop (Lenovo Y50).  Pressing 
Alt+F2, typing "r", and pressing enter helps as noted before when this appear.
The only thing related to elevated privileges I can think of is using admin:/// 
in nautilus.
The problem generally appears after coming back from suspended to resumed state.

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https://bugs.launchpad.net/bugs/1824874

Title:
  undismissable, unclickable authentication dialog left on screen (top-
  left corner) after policykit authentication [pushModal: invocation of
  begin_modal failed]

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