My affected system is an ASUS Zenbook UX305FA with Secure Boot turned off. 
Thanks for all the hints, especially comment #10. My workaround was easy:
1. In grub menu, choose an entry and edit it (key press: e).
2. Add rmmod tpm in a line before the first insmod.
3. Boot with the modified entry (key press: F10).
4. The system might ask for a confirmation, but then it boots into 19.10.

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https://bugs.launchpad.net/bugs/1848892

Title:
  "error: Unknown TPM error." after upgrading to grub 2.04

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