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Endless restart after clean installation with UEFI

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I installed Ubuntu 20.04 both in Desktop and Server edition onto several HP Desktop Mini machines, specifically HP EliteDesk 800 DM G1, G3 and G5. With SecureBoot disabled installation works fine, on the contrary, when installing with SecureBoot enabled, something strange happens.

I usually do the installation via USB drive, so I start the installation by selecting the UEFI<drive name> in the boot menu and the installation works flawlessly. After the installation finishes, the system start an endless reboot cycle. The big HP logo is shown, but, instead starting the boot process, machine restarts and so on, indefinitely.

After several tries I found a workaround that works, but I can't explain what is the reason behind it. After the installation finishes, I enter the boot menu and manually select the disk where Ubuntu was just installed, then the boot process starts normally. Funny thing, from that moment on, I can start or restart the system without bothering. Occasionally, I noticed a machine firmware update can broke the process again, but I can fix it by simply entering once in the boot menu.

I understand there must be a rationale behind this, but I am not expert enough in Linux to explain it: I know what to do, but I would like to know why this is necessary and what is the root cause. I hope someone can explain this behaviour. Thanks

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