I found the problem.

/var/log/dist-upgrade/apt.log
contained the lines

Broken libk3b7-extracodecs:amd64 Depends on libavcodec58:amd64 < none | 
7:4.2.2-1ubuntu1 @un uH > (>= 7:4.0)
  Considering libavcodec58:amd64 70 as a solution to libk3b7-extracodecs:amd64 1
  MarkKeep libk3b7-extracodecs:amd64 < 17.12.3-0ubuntu3 -> 19.12.3-0ubuntu1 @ii 
umU Ib > FU=0
  Holding Back libk3b7-extracodecs:amd64 rather than change libavcodec58:amd64

I eventually found out that libk3b7-extracodecs belongs to the DVD
burning application K3B.

After deinstalling K3B with

apt remove k3b
apt autoremove

the upgrade to Ubuntu Mate 20.04 was successful.

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https://bugs.launchpad.net/bugs/1876298

Title:
  Upgrade from Ubuntu Mate 18.04 to 20.04 fails

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