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In centos there is a the directive AUTOCREATE_SERVER_KEYS=YES you can put in the /etc/sysconfig/sshd file to tell sshd to re-create its ssh server keys if the keys are missing.

Is there any such way in Ubuntu server 20.04?

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I'm not aware of any equivalent setting.

The Ubuntu/Debian method I usually see suggested to generate missing SSH host keys is the command

dpkg-reconfigure openssh-server

Ubuntu systems with cloud-init by default will use the SSH host-keys module to automatically regenerate host-keys. This module is per-instance, which means it will only run during the first boot.

It might help if you provide the use case for why you need to recreate the SSH host keys.