I made some progress:

$ grub-probe -t device /boot/grub
/dev/sda6

$ mount
[...]
/dev/sda6 on /boot type ext4 (rw,relatime)
/dev/sda2 on /boot/efi type vfat 
(rw,relatime,fmask=0077,dmask=0077,codepage=437,iocharset=iso8859-1,shortname=mixed,errors=remount-ro)

$ sudo ls /boot/efi/EFI/Ubuntu
BOOTX64.CSV  grub.cfg  grubx64.efi  mmx64.efi  shimx64.efi

$ dd if=/dev/sda bs=512 count=1 2> /dev/null | grep -q GRUB && echo "GRUB found"
$

If I read these correctly, I do have files, but since the update no more
MBR in /dev/sda. Is this observed correctly?

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https://bugs.launchpad.net/bugs/1898022

Title:
  grub upgrade 18.04->20.04 loses dual-boot to W10

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