Help with Precision 5520 TPM issue

Hi Guys

I'm having an issue with my PC relating to the TPM module.

I have a precision 5520 that I configured to not have the TPM when purchasing it. It had come with windows 10 pro preinstalled but I wanted to dual boot it with Ubuntu. So I did do that with 10 pro 1607 and Ubuntu 16.04 LTS. Everything worked fine.

I then upgraded to Ubuntu 20.04 LTS and my windows version is currently on windows 10 pro 1903 with all the latest drivers from Dell. I had also upgraded my bios and am currently running version 1.19.2

Ever since the ubuntu upgrade I receive this message every time I switch on the laptop(see attached image). I normally click continue and the GRUB loader shows up as normal and I select the OS I wish to use.

Also the power on light illuminates for 2 seconds when pressed then goes back to the non illuminated state when attempting to switch on the computer. I have to press the power on button 3 times to get the computer to switch on and go through POST etc. This happens when the following conditions are met

-Computer is NOT plugged in to AC

-Battery has useable charge usually 100% (laptop is on a desk and is mostly plugged in)

-Laptop is completely off. (hibernated to be specific, S5 power state, so only pressing the power button switches on the computer)

Any Ideas or help on how to stop the message you see in the screenshot below and how to have the machine power up on the first attempt?
Thanks
Message that I receive after bios and Ubuntu upgrade. I dont have actually have a TPM. How do I stop this message from showing up EVERYTIME I power on the laptop?