sudo gedit /etc/default/grub
find the line that says GRUB_HIDDEN_TIMEOUT=0 or GRUB_TIMEOUT_STYLE=hidden put # at the start of this line to comment it out
#GRUB_HIDDEN_TIMEOUT=0
or
#GRUB_TIMEOUT_STYLE=hidden
and make sure GRUB_TIMEOUT=10 or some other number bigger than zero. When done exit nano saving changes and run
sudo update-grub