sudo apt install autofs
Edit the /etc/auto.master file. on 20.04, I did not have to do anything other than add lines to specific nfs server mounts at the end
Add a line that refers to the mount point and the file that describes what to mount.
For example:
/mnt/syn /etc/auto.syn
/mnt/syn refers to a directory tree where the mounts points will be mounted under.
/etc/auto.syn is a file that describes what to mount unter /mnt/syn
auto.syn contains lines that describe what to mount under the directory tree
For example:
homes -fstype=nfs server-name:/volume1/homes
will mount the /volume1/homes from nfs server-name to /mnt/syn/homes
sudo systemctl reload autofs.service
https://askubuntu.com/questions/884389/auto-mount-nfs-via-autonfs