FWIW. I had this issue today when I performed a restart of my 2018 Mac mini. In my case I too have a Dell monitor but it is a 4K model. Unplugging and replugging in the HDMI cable resolved this as well. It doesn't happen on the first boot up or subsequent restarts, but only during a random restart. I have a HDMI cable directly connected between the mini and the monitor.
When running macOS Catalina 10.15, I was not able to get a display on the monitor using a direct HDMI connection. I had to use a USB-C-to-HDMI adapter for this to work consistently. With the release of 10.15.1, I was able to go back to just using the HDMI connection directly ... but did come across this exact issue once ... so 10.15.1 sorta fixed it, but looks like it will require a 10.15.2 to get this sorted out.