Steps to reproduce:
1. Download and open attached "StageDemo" project
2. Open "SampleScene" scene
3. Press "Edit" in the toolbar, then "Project Settings.."
4. In the Project Settings window, select Graphics and change the Scriptable Render Pipeline to "New HDRenderPipelineAsset"
5. Select "Sphere" GameObject in the Hierarchy window
6. Move it around in the scene view

Expected result: Shadows around the Sphere don't flicker
Actual result: Shadows around the Sphere start flickering

Reproducible with: 2019.3.0b4, 2019.3.0f3, 2020.1.0a17 (HDRP Package 7.1.5 - 7.1.6)
Not reproducible with: 2018.4.14f1, 2019.2.16f1, 2019.3.0b3 (HDRP Package preview.4.10.0 - 7.1.2)
Could not test with: 2017.4 (HDRP wasn't released yet)

Note: This bug only reproduces when a Directional light is being used