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On the phone, I did

Settings --> Developer Options --> Default USB Configuration --> Transferring files / Android Auto

Hoping that would mount its filesystem on Ubuntu 20 when connected USB. But it didn't, at least it doesn't show in the file browser.

Is there something else I need to do?

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Well, you can mount it the same way as Android 9 on Ubuntu 18 (or any Android > 4 on almost any Linux distribution) – utilizing ADB. I use adbfs-rootless for that. True, you need to compile it yourself – but that's pretty easy, with instructions in the readme. That done you can easily mount the storage of your Android device at the command line – and access everything that's accessible without root powers as if it were locally available on your Linux machine.

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