This solution was tested on Ubuntu 18.04 LTS.
You can still open GRUB menu by pressing shift key while booting. Otherwise it will automatically open choosen system.
To do that you need to make changes in file /etc/default/grub. However after updating GRUB settings the changes won't be visible due to one of scripts which is used to generate final file. That's why you need to make additonal changes. I recomend to backup files in case something went wrong.
Here are the steps you need to do: