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This same bug appears to also affect the latest MATE build 4/20/20.
My current setup is a Thinkpad T440s with two physical drives. One drive has Manjaro with grub-efi-amd64 2.04-10 and one drive with MATE grub-efi-amd64 2.04.1ubuntu26. MATE boots fine but does not provide me with a grub boot menu to select the manjaro instance. I'm able to access that instance if I select the boot option within the bios.
I also tried to repair grub using the repair tool built into the the welcome prompt and that didn't work either.
QEMU. 3rd party. Download updates. Welcome not starting on first boot