I found commit ddc52dec132c777dd950c7f519bdd19f1e51d2cd in your https://gitlab.com/voxl-public/system-image-build/meta-voxl2/-/tree/ubun2.0-dev/recipes-append/recipes-core/ubuntu-base?ref_type=heads
that has a bitbake append for ubuntu 20.04, seems that its in active development, do you have any guides to image build?
I don't need the closed source stuff at moment.