Reproduction steps:
1. Import the attached .unitypackage to a new project ("CrashReproPack.unitypackage")
2. Open "CrashScene"
3. Enter Play mode

Reproducible with: 2019.3.0f3, 2019.3.11f1, 2020.1.0a16, 2020.1.0b6, 2020.2.0a8
Not reproducible with: 2017.4.40f1, 2018.4.22f1, 2019.3.0f2, 2020.1.0a15

First lines of the stacktrace:
0x00007FF7DD3365F4 (Unity) CullCastersCommon
0x00007FF7DD33675E (Unity) CullDirectionalShadows
0x00007FF7DD2BFA5B (Unity) CullShadowCastersDetailDirectionalThreaded
0x00007FF7DD2BE972 (Unity) CullDirectionalShadowCastersJob
0x00007FF7DD7DF2CC (Unity) JobQueue::Exec

Notes:
- Prerequisites for the crash repro: Directional Light with Shadows, GameObject with MeshRenderer and a Camera with a specific Transform matrix (didn't find what exactly in it contributes to the crash)
- On not reproducible versions "Assertion failed: Assertion failed on expression: 'IsNormalized(normal, 0.001f)'" assertion failure is spammed in console instead of crash along with transform.position invalid assign attempt
- When no material is assigned to the Mesh Renderer, "Assertion failed on expression: 'std::abs(det) > FLT_MIN'" assertion failure is spammed