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Login time slow when monitors connected to GPU on. Ubuntu 18.04

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When I have my monitors connected to my GPU, login time takes about 30 seconds, whereas if I plug them into the motherboard, this time is reduced to 7 seconds. The boot time is reasonable, and I would like to continue using the GPU, as the display is much nicer looking and more responsive, but the login time is terrible. I never had this issue on 20.04, but I had to downgrade recently to be able to use some ROS packages.

During boot I am getting a failed message:

"Failed to start NVIDIA-powered service"

If I switch from using driver 510 to 470, this message goes away, but login time issue persists. CUDA and/or CUDnn switched my driver to 510 when installed.

My GPU information from nvidia-smi:

+---------------------------------------------+
| NVIDIA-SMI 510.47.03    Driver Version: 510.47.03    CUDA Version: 11.6     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                               |                      |               MIG M. |
|===============================+======================+======================|
|   0  Quadro P2200        On   | 00000000:01:00.0  On |                  N/A |
| 44%   25C    P5     8W /  75W |    476MiB /  5120MiB |      1%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
                                                                               
+---------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A      1529      G   /usr/lib/xorg/Xorg                 65MiB |
|    0   N/A  N/A      1624      G   /usr/bin/gnome-shell               74MiB |
|    0   N/A  N/A      2005      G   /usr/lib/xorg/Xorg                 85MiB |
|    0   N/A  N/A      2137      G   /usr/bin/gnome-shell              245MiB |
+---------------------------------------------+
WARNING: infoROM is corrupted at gpu 0000:01:00.0

I am using GNOME 3.28.2. OS is Ubuntu 18.04.6

Let me know what other information I can provide that is helpful. Thanks.

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