Hello all,
I have exactly the same use case: same Ubuntu versions, we're using Packer to 
build VM with UEFI without secure boot and store it as a template in a VMware 
vCenter, and we're using Ansible for an updates.

Getting the same error:

root@test:~# apt upgrade
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Calculating upgrade... Done
Get more security updates through Ubuntu Pro with 'esm-apps' enabled:
  gsasl-common libheif1 imagemagick imagemagick-doc libopenexr25
  imagemagick-6-doc libmagickcore-6.q16-6-extra libgsasl7
  libmagickwand-6.q16-6 imagemagick-6.q16 libmagickcore-6.q16-6
  imagemagick-6-common libde265-0
Learn more about Ubuntu Pro at https://ubuntu.com/pro
The following packages have been kept back:
  libmm-glib0 libpcap0.8 modemmanager ubuntu-advantage-tools ubuntu-pro-client 
ubuntu-pro-client-l10n zabbix-agent
0 upgraded, 0 newly installed, 0 to remove and 7 not upgraded.
1 not fully installed or removed.
After this operation, 0 B of additional disk space will be used.
Do you want to continue? [Y/n] y
Setting up shim-signed (1.51.4+15.8-0ubuntu1) ...
mount: /var/lib/grub/esp: special device 
/dev/disk/by-id/scsi-36000c2975c86d58beaecefea23c29f2d-part1 does not exist.
dpkg: error processing package shim-signed (--configure):
 installed shim-signed package post-installation script subprocess returned 
error exit status 32
Errors were encountered while processing:
 shim-signed
needrestart is being skipped since dpkg has failed
E: Sub-process /usr/bin/dpkg returned an error code (1)
```

May I ask you:
1. Why its happened?
2. How to fix it?
3. How to prevent it in the future?

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https://bugs.launchpad.net/bugs/2080297

Title:
  installed shim-signed package post-installation script subprocess
  returned error exit status 32

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