I have resolved the issue by doing the following:

1) From grub, change the linux line; remove 'quiet' and 'splash', and
change 'ro' to 'rw init=/bin/bash' (see below if you need more
information)

This will allow you to boot into your system sort of"recovery mode".

2) When booted, run: mount -o remount,rw /

3) Copy a "bogus" library over the library that the upgrade is
expecting: cp /lib/x86_64-linux-gnu/libcrypt.so /lib/x86_64-linux-
gnu/libcrypt.so.1

4) run: apt --fix-broken install

5) Resume the original upgrade: apt full-upgrade

6) reboot (this might require forcefully rebooting using your power or
reset button)


Information regarding the grub bit:

It may take a few tries to get into grub. You need to press ESC at the
right time during the boot process (just after your bios/efi post has
shown), or forcefully rebooting during startup will most likely bring
you there as well

Select the "ubuntu" line, and hit the 'e' key on your keyboard.

Go to the line that looks like:

linux /boot/vmlinuz-5.4.0-14-generic root=UUID=<a lot of numbers> ro
quiet splash $vt_handoff

Change it into:

linux /boot/vmlinuz-5.4.0-14-generic root=UUID=<a lot of numbers> rw
init=/bin/bash $vt_handoff

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https://bugs.launchpad.net/bugs/1866844

Title:
  package libc6:amd64 2.31-0ubuntu3 failed to install/upgrade: installed
  libc6:amd64 package post-installation script subprocess returned error
  exit status 127

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