I can confirm that I get the same warning in ubuntu 18.04 
Linux ThinkPad-T495 5.3.0-26-generic #28~18.04.1-Ubuntu SMP Wed Dec 18 16:40:14 
UTC 2019 x86_64 x86_64 x86_64 GNU/Linux

error:

update-initramfs: Generating /boot/initrd.img-5.3.0-26-generic
W: Possible missing firmware /lib/firmware/amdgpu/vega20_ta.bin for module 
amdgpu
W: Possible missing firmware /lib/firmware/amdgpu/navi10_mes.bin for module 
amdgpu
I: The initramfs will attempt to resume from /dev/nvme0n1p6
I: (UUID=8fab22ef-9307-4455-979c-362579ae6512)
I: Set the RESUME variable to override this.



command output:

linux-firmware:
  Installed: 1.173.14
  Candidate: 1.173.14
  Version table:
 *** 1.173.14 500
        500 http://us.archive.ubuntu.com/ubuntu bionic-updates/main amd64 
Packages
        500 http://us.archive.ubuntu.com/ubuntu bionic-updates/main i386 
Packages
        100 /var/lib/dpkg/status
     1.173.12 500
        500 http://security.ubuntu.com/ubuntu bionic-security/main amd64 
Packages
        500 http://security.ubuntu.com/ubuntu bionic-security/main i386 Packages
     1.173 500
        500 http://us.archive.ubuntu.com/ubuntu bionic/main amd64 Packages
        500 http://us.archive.ubuntu.com/ubuntu bionic/main i386 Packages

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Packages, which is subscribed to linux-firmware in Ubuntu.
https://bugs.launchpad.net/bugs/1850654

Title:
  update-initramfs complains of missing amdgpu firmware files

Status in linux package in Ubuntu:
  Confirmed
Status in linux-firmware package in Ubuntu:
  Fix Released
Status in linux source package in Bionic:
  Invalid
Status in linux-firmware source package in Bionic:
  Fix Released
Status in linux source package in Eoan:
  Confirmed
Status in linux-firmware source package in Eoan:
  Fix Released

Bug description:
  SRU Justification

  Impact: With 5.3 update-initramfs reports several missing amdgpu
  firmware files:

  update-initramfs: Generating /boot/initrd.img-5.3.0-19-generic
  W: Possible missing firmware /lib/firmware/amdgpu/vega20_ta.bin for module 
amdgpu
  W: Possible missing firmware /lib/firmware/amdgpu/raven_kicker_rlc.bin for 
module amdgpu
  W: Possible missing firmware /lib/firmware/amdgpu/navi10_mes.bin for module 
amdgpu

  Of these, only raven_kicker_rlc.bin has been added to upstream linux-
  firmware.

  Fix: Add raven_kicker_rlc.bin to linux firmware, and remove the other
  files from modinfo for amdgpu.

  Test Case: Once fixed, the warnings from update-initramfs should be
  gone.

  Regression Potential: Adding a missing firmware is unlikely to break
  any working hardware. Removing the other missing files from modinfo
  will not cause regressions either, however if the firmware is added
  later update-initramfs will not add the files to the initramfs until
  the firmware is added back to modinfo.

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