I can confirm the kernel in groovy-proposed fixes this issue:

# enable proposed
cat <<EOF >/etc/apt/sources.list.d/ubuntu-$(lsb_release -cs)-proposed.list
# Enable Ubuntu proposed archive
deb http://archive.ubuntu.com/ubuntu/ $(lsb_release -cs)-proposed restricted 
main multiverse universe
EOF

# pin so packages are not automatically upgraded from -proposed
cat <<EOF >/etc/apt/preferences.d/proposed-updates
# Configure apt to allow selective installs of packages from proposed
Package: *
Pin: release a=$(lsb_release -cs)-proposed
Pin-Priority: 400
EOF

# install kernel from proposed
apt install linux-generic-hwe-20.04/groovy-proposed 
linux-headers-generic-hwe-20.04/groovy-proposed

# ensure "quiet splash" is still set in /etc/default/grub
grep quiet\ splash /etc/default/grub

reboot

# then I notice boot does not hang anymore with thunderbolt dock
connected - \o/


** Tags removed: verification-needed-groovy
** Tags added: verification-done-groovy

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You received this bug notification because you are a member of Kernel
Packages, which is subscribed to linux-oem-5.6 in Ubuntu.
https://bugs.launchpad.net/bugs/1902469

Title:
  drm/i915/dp_mst - System would hang during the boot up.

Status in linux package in Ubuntu:
  Incomplete
Status in linux-oem-5.6 package in Ubuntu:
  Invalid
Status in linux source package in Focal:
  Invalid
Status in linux-oem-5.6 source package in Focal:
  Fix Committed
Status in linux source package in Groovy:
  Fix Committed

Bug description:
  [Impact]
  The machine connect with the external monitor on dock(Thunderbolt),
  Then system would hang during the boot-up.

  [Fix]
  The atomic check hooks must look up the encoder to be used with a
  connector from the connector's atomic state, and not assume that it's
  the connector's current attached encoder. The latter one can change
  under the atomic check func, or can be unset yet as in the case of MST
  connectors.

  [test]
  With the patch, The machine connect with the external monitor on 
dock(Thunderbolt),
  Then system boot up successfully.

  [Regression Potential]
  Low. This patch is also verified by others and is archived in the drmtip.

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