How to exit GRUB prompt and back to menu?

I hided GRUB on boot so that I can press ESC to show the menu only when I need it. However, pressing ESC too many times will take me to the GRUB prompt and it's hard to press exactly once during the boot.

How can I exit prompt and back to the GRUB menu? I have tried to use exit and normal commands but they didn't help. Pressing ESC only produces a new line of grub>.

Here's my GRUB configuration

GRUB_DEFAULT="0"
GRUB_HIDDEN_TIMEOUT="0"
GRUB_HIDDEN_TIMEOUT_QUIET="true"
GRUB_TIMEOUT="3"
#GRUB_DISTRIBUTOR="`lsb_release -i -s 2> /dev/null || echo Debian`"
GRUB_DISTRIBUTOR="Kubuntu"
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"

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