On UEFI systems, Ubuntu uses stubble to load the device tree. However, it still ships flash-kernel in case you want to use it. This normally wouldn’t be an issue, but if you have SecureBoot enabled, this causes an error message in GRUB that must be dismissed with the Enter key. Removing flash-kernel prevents the error message.
sudo rm -rf /boot/dtb*
sudo update-grub
sudo apt purge flash-kernel