I see an early message in the terminal when booting;
Attempting to decrypt master key . . . Enter passphrase for hd0, msdos2 (HASH SUM)
Entering the password means that grub can boot but I have to enter the password again once grub has run.
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I commented out "GRUB_ENABLE_CRYPTODISK=y" in/etc/default/grub then ran sudo update-grub. This stopped grub from asking me for a password.