2 steps.
First you want your timeout to be more than 0.
Mine is set for 5 seconds.
Next, the default is for the grub menu to be hidden.
If you wish it to be displayed with every boot then the grubenv file can be edited to remove the setting that hides the menu sudo grub2-editenv - unset menu_auto_hide.
To hide it again use sudo grub2-editenv - set menu_auto_hide=1
If you do not wish it to be displayed with every boot then the timeout setting would be all that is required to have the menu displayed for enough time to use the keyboard.