Hidden WiFi does not automatically connect on startup

Lenovo ThinkPad T430

Ubuntu 20.04 LTS

When starting Ubuntu 20.04 LTS from cold boot or reboot, hidden WiFi networks do not automatically connect despite having this option selected.
This is new to 20.04 and did not exist in 18.04.

Waking from suspend does not have this issue.
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ProblemType: Bug
ApportVersion: 2.20.11-0ubuntu27
Architecture: amd64
CasperMD5CheckResult: skip
CurrentDesktop: ubuntu:GNOME
DistroRelease: Ubuntu 20.04
IfupdownConfig:
 # interfaces(5) file used by ifup(8) and ifdown(8)
 auto lo
 iface lo inet loopback
InstallationDate: Installed on 2018-09-25 (579 days ago)
InstallationMedia: Ubuntu 18.04.1 LTS "Bionic Beaver" - Release amd64 (20180725)
IpRoute:
 default via 192.168.0.1 dev wlp3s0 proto dhcp metric 600
 169.254.0.0/16 dev wlp3s0 scope link metric 1000
 192.168.0.0/24 dev wlp3s0 proto kernel scope link src 192.168.0.12 metric 600
Package: network-manager-applet (not installed)
ProcVersionSignature: Ubuntu 5.4.0-26.30-generic 5.4.30
Tags: focal
Uname: Linux 5.4.0-26-generic x86_64
UpgradeStatus: Upgraded to focal on 2020-04-19 (6 days ago)
UserGroups: adm cdrom dip lpadmin plugdev sambashare sudo
_MarkForUpload: True
nmcli-dev:
 DEVICE TYPE STATE IP4-CONNECTIVITY IP6-CONNECTIVITY DBUS-PATH CONNECTION CON-UUID CON-PATH
 wlp3s0 wifi connected full limited /org/freedesktop/NetworkManager/Devices/3 Pandanet 9254f39c-f7a5-4542-adda-599069bfd65d /org/freedesktop/NetworkManager/ActiveConnection/3
 enp0s25 ethernet unavailable none none /org/freedesktop/NetworkManager/Devices/2 -- -- --
 lo loopback unmanaged unknown unknown /org/freedesktop/NetworkManager/Devices/1 -- -- --
nmcli-nm:
 RUNNING VERSION STATE STARTUP CONNECTIVITY NETWORKING WIFI-HW WIFI WWAN-HW WWAN
 running 1.22.10 connected started full enabled enabled enabled enabled disabled