Following the advice from an answer to How do I remove or hide old kernel versions to clean up the boot menu or free space?, I found myself having to put up with the GRUB boot menu every time I started the system. I followed the instructions to hide the menu by editing /etc/default/grub and then running update-grub, and it seems to change /boot/grub/grub.cfg as I am able to verify that set timeout=10 becomes set timeout=0 after changing the relevant line in /etc/default/grub, but the menu still shows and it never times out!

Is there any way to get GRUB back to the way it was?

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