No. On Ubuntu raspi the VFAT partition is mounted on /boot/firmware, not
/boot. There is something wrong with your system setup.

ubuntu@rpi-4b-rev1d4-d9f5:~$ mount | grep mmc
/dev/mmcblk0p2 on / type ext4 (rw,relatime,discard,errors=remount-ro)
/dev/mmcblk0p1 on /boot/firmware type vfat 
(rw,relatime,fmask=0022,dmask=0022,codepage=437,iocharset=ascii,shortname=mixed,errors=remount-ro)


** Changed in: linux-raspi (Ubuntu)
       Status: New => Invalid

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https://bugs.launchpad.net/bugs/1944589

Title:
  Ubuntu Mate 20.04 kernel updates 1042 and 1043 attempt to create
  symlinks in /boot even though /boot on Raspberry Pi is vfat

Status in Ubuntu MATE:
  New
Status in linux-raspi package in Ubuntu:
  Invalid

Bug description:
  The focal (20.04) kernel updates 1042 and 1043 attempt to create
  symlinks in /boot. This was tested on a Pi 4 (arm64).

  On Raspberry Pi, /boot is a vfat partition; vfat does not support
  symlinks.

  I think (but am not sure) that /boot on Raspberry Pi has to be vfat
  (cannot be ext3/4 or another filesystem that supports symlinks)

  This problem manifests itself as:

  # apt-get upgrade

  [...]

  Setting up linux-image-5.4.0-1043-raspi (5.4.0-1043.47) ...
  /etc/kernel-img.conf: W: ignoring no_symlinks; only symlinks are supported
  Processing triggers for linux-image-5.4.0-1043-raspi (5.4.0-1043.47) ...
  /etc/kernel/postinst.d/initramfs-tools:
  update-initramfs: Generating /boot/initrd.img-5.4.0-1043-raspi
  Using DTB: bcm2711-rpi-4-b.dtb
  Installing 
/lib/firmware/5.4.0-1043-raspi/device-tree/broadcom/bcm2711-rpi-4-b.dtb into 
/boot/dtbs/5.4.0-1043-raspi/./bcm2711-rpi-4-b.dtb
  Taking backup of bcm2711-rpi-4-b.dtb.
  Installing new bcm2711-rpi-4-b.dtb.
  ln: failed to create symbolic link '/boot/dtb-5.4.0-1043-raspi': Operation 
not permitted
  run-parts: /etc/initramfs/post-update.d//flash-kernel exited with return code 
1
  run-parts: /etc/kernel/postinst.d/initramfs-tools exited with return code 1
  dpkg: error processing package linux-image-5.4.0-1043-raspi (--configure):
  installed linux-image-5.4.0-1043-raspi package post-installation script 
subprocess returned error exit status 1
  Errors were encountered while processing:
  linux-image-5.4.0-1043-raspi
  E: Sub-process /usr/bin/dpkg returned an error code (1)

  Even when /etc/kernel-img.conf is set to:
  Kernel Image management overrides
  See kernel-img.conf(5) for details

  do_symlinks = no
  no_symlinks = yes
  do_bootloader = no
  link_in_boot = no

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