I got the exact same error after upgrading from Ubuntu 19.04 to Ubuntu 19.10 on my HP EliteBook 820 G4. Disabling TPM in UEFI "solved" it for me. Seems to be a bug in grub2 package version 2.04 in Ubuntu 19.10. Seems they added UEFI TPM 1.2/2.0 support to grub2 version 2.04 in July 2019, but it obviously does not work for us.....
I got the exact same error after upgrading from Ubuntu 19.04 to Ubuntu 19.10 on my HP EliteBook 820 G4. Disabling TPM in UEFI "solved" it for me. Seems to be a bug in grub2 package version 2.04 in Ubuntu 19.10. Seems they added UEFI TPM 1.2/2.0 support to grub2 version 2.04 in July 2019, but it obviously does not work for us.....
https:/ /www.phoronix. com/scan. php?page= news_item& px=GRUB- 2.04-Released