I ran into the same problem, and found the solution. Initially in grub2 the 
configuration is set to GRUB_GFXMODE=auto. On several systems grub seems to be 
unable to autodetect the proper resolution.
(In grub console "videoinfo" returned no (!) output on my system.) After 
altering to GRUB_GFXMODE=1280x800 which is the known resolution of my screen, 
yours may differ of course, my lovely bootmenu (don't forget to run update-grub 
after altering the config file) was visible again.

Formerly grub's default configuration seemed to be GRUB_TERMINAL=
console, which now has been commented out. That leads to a nice output
(as grub themes are supported) if it works. If not, it leads into the
dark...

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https://bugs.launchpad.net/bugs/1863434

Title:
  20.04 grub menu not visible

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