Hi,
I was searching for something similar because i've the very same SSD model, and 
an error that looks almost equal to yours.
My distro, however, is not Ubuntu, I use Arch.

Even if we use different kernels, it is weird that we're starting to
have problems since November 2019, isnt'it?

My theory, is that while Arch uses vanilla kernel as much as possible and is a 
rolling distro, Ubuntu may have backported newer kernel "features" from (mine) 
5.3.8 to (yours) 5.0.0-32.
That features breaks something.

Please, forgive me if it is not allowed, i'm just posting here a link to my 
archlinux forum post:
https://bbs.archlinux.org/viewtopic.php?id=250764

As you can see, we've the very same ssd (different firmware), and smart looks 
really ok.
I've even tried to reproduce the error via hdparm,dd and badblock program or 
the full smart self test, but everything seems to be right.
The only way to reproduce the issue, for me, is to read every single file from 
the partition.
As i do that, i've exactly 4 warnings in the log.
Fortunately i've never had a write error, and my system does not remount the 
partition read only has it happen in your case, but that could be a 
configuration thing.
The only downside for me seems that while the error is triggered, the system 
freezes up for a second or so.

Can i ask you:
* What is your motherboard chipset? I'm using an Asus Z97-K (so Z97 chipset 
onboard)
* When has kernel 5.0.0-32-generic (ubuntu) been released?
* What is and when your previous kernel been released? Mine, 5.3.8.1, has been 
released in 2019, October, 29

Let's try to isolate the issue :)

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https://bugs.launchpad.net/bugs/1851318

Title:
  SSD ATA failed command: READ FPDMA QUEUED

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