The issue was, that when Windows was loaded (or maybe updated) it switched around the boot order in the UEFI settings.
For a one-time solution, I was able to go follow this guide
How to enter UEFI (BIOS) on Windows 10 PCs | Windows Central
to get to UEFI:
in windows 10
Settings > Update & Security > Recovery > Advanced Startup > Restart now
on blue screens:
Troubleshoot > Advanced options > UEFI Firmware Settings > Restart
This got me to a UEFI menu where I could find out the boot order was switched to:
- Windows boot manager
- ubuntu
Swapping them around, saving and restarting got me back to where I could select Ubuntu.
For a more permanent solution this answer goes into more detail:
Windows 10 changes UEFI boot order every time - Ask Ubuntu