I saw a similar link on 20.04 and followed some troubleshooting. it starts the boot then gets an error msd error [04:00] 3.00 000000:03 error 2 delays for about 20-25 seconds then resumes booting. lsusb gives
Bus 002 Device 003: ID 174c:55aa ASMedia Technology Inc. ASM1051E SATA 6Gb/s bridge, ASM1053E SATA 6Gb/s bridge, ASM1153 SATA 3Gb/s bridge, ASM1153E SATA 6Gb/s bridge
Bus 002 Device 002: ID 18a5:0250 Verbatim, Ltd STORE N GO
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 046d:c534 Logitech, Inc. Unifying Receiver
Bus 001 Device 002: ID 2109:3431 VIA Labs, Inc. Hub
switched to wired keybd and mouse no help.
SOLUTION: unplugged Verbatim store n go flash drive and problem went away
