I still had the issue on an up-to-date Ubuntu 20.04 (Focal), when building 
arm64 packages with pbuilder on an x86_64 system:
qemu:handle_cpu_signal received signal outside vCPU context @ pc=0x60277b5c
qemu:handle_cpu_signal received signal outside vCPU context @ pc=0x60001a4e

These are the package versions:

$ apt-show-versions | grep qemu
ipxe-qemu:all/focal-updates 1.0.0+git-20190109.133f4c4-0ubuntu3.2 uptodate
ipxe-qemu-256k-compat-efi-roms:all/focal 1.0.0+git-20150424.a25a16d-0ubuntu4 
uptodate
qemu-block-extra:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-efi-aarch64:all/focal-security 0~20191122.bd85bf54-2ubuntu3.3 uptodate
qemu-efi-arm:all/focal-security 0~20191122.bd85bf54-2ubuntu3.3 uptodate
qemu-kvm:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-slof:all/focal 20191209+dfsg-1 uptodate
qemu-system:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-arm:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-common:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-data:all/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-gui:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-mips:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-misc:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-ppc:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-s390x:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-sparc:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-system-x86:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-user:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-user-static:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate
qemu-utils:amd64/focal-security 1:4.2-3ubuntu6.21 uptodate

A work-around solution is to add the canonical-server/server-backports PPA and 
upgrade to QEMU 6.0:
sudo -sy add-apt-repository ppa:canonical-server/server-backports
sudo apt dist-upgrade -y

However, this issue should be fixed in 20.04 (Focal) directly.

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https://bugs.launchpad.net/bugs/1906479

Title:
  qemu:handle_cpu_signal received signal outside vCPU context

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