I had the same issues with a fresh install of karmic on my amd64 box.
(Two SATA drives, first for XP, second for karmic - though I was seeing
only a 10-15 second delay on boot and another few seconds pause on
selecting an image to boot.) Telling the BIOS to prefer to boot from the
second drive didn't initially help until I noticed that sdb1 - as set up
by the karmic installer - hadn't been marked as bootable...! Manually
setting the bootable flag fixed it.

I temporarily undid the fix and tried
1.98~experimental.20100105-0ubuntu1~ppa1 from Felix's PPA, which also
fixed the issue.

Finally, a word of warning to any newbies reading this thread: don't put
"set debug=all" in your grub config unless you are prepared to deal with
a very slow boot. I tried it, out of interest, but got bored after about
15 minutes (there was a mind-boggling amount of uninteresting screen
output) and ended up using a livecd to undo the change.

-- 
Current grub-pc takes several minutes to show menu
https://bugs.launchpad.net/bugs/420933
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