I wasn't sure if my proposal would make any sense, because I don't
possess much knowledge about GRUB and booting an operating system. But
anyway, my thoughts were as follows (only in case if Ubuntu is the only
OS installed, as I already mentioned, in all other use cases the menu
should be there to choose another OS than Ubuntu to boot).

Disable the three second delay and let GRUB boot the most recent kernel
immediatly. If the most recent kernel fails to boot, pass to GRUB that
it should present the user with the menu the next time the system is
started again, so the user can choose to start the latest kernel in
recovery mode or an older kernel. Concerning the option for starting
memtest86 from the GRUB menu, drop that option, because most people will
never user it and because a Live CD is downloadable for memtest86 (and
it's also accessible from the Ubuntu Live CD).

In short, only present the user with the menu if the last kernel which
was choosen to boot failed, remove the memtest86 option.

-- 
GRUB's three seconds delay unnecessary if only Ubuntu is installed
https://bugs.launchpad.net/bugs/194730
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