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Docker CE not starting on Raspbian Lite

I have a new booted Raspbian Buster Lite on Raspberry Pi Model 3 B plus, updated to the latest patch with the latest stable Docker CE installed. The issue is the the docker is not started by the systemd on boot. Manually executing sudo systemctl start docker will start it without problem. It looks like docker.socket cannot start on boot.

Below are the logs. What is the problem here?.

pi@raspberrypi:~ $ systemctl status docker
● docker.service - Docker Application Container Engine
Loaded: loaded (/lib/systemd/system/docker.service; enabled; vendor preset: enabled)
Active: inactive (dead)
Docs: https://docs.docker.com

pi@raspberrypi:~ $ sudo journalctl -qxe |grep docker
Feb 08 11:57:44 raspberrypi systemd[1]: sockets.target: Found ordering cycle on docker.socket/start
Feb 08 11:57:44 raspberrypi systemd[1]: sockets.target: Job docker.socket/start deleted to break ordering cycle starting with sockets.target/start
Feb 08 11:59:21 raspberrypi sudo[684]: pi : TTY=pts/1 ; PWD=/home/pi ; USER=root ; COMMAND=/usr/bin/vi /lib/systemd/system/docker.service

Linux raspberrypi 4.19.97-v7+ #1294 SMP Thu Jan 30 13:15:58 GMT 2020 armv7l GNU/Linux

Client: Docker Engine - Community
Version: 19.03.5
API version: 1.40
Go version: go1.12.12
Git commit: 633a0ea
Built: Wed Nov 13 07:37:22 2019
OS/Arch: linux/arm
Experimental: false

Server: Docker Engine - Community
Engine:
Version: 19.03.5
API version: 1.40 (minimum version 1.12)
Go version: go1.12.12
Git commit: 633a0ea
Built: Wed Nov 13 07:31:17 2019
OS/Arch: linux/arm
Experimental: false
containerd:
Version: 1.2.10
GitCommit: b34a5c8af56e510852c35414db4c1f4fa6172339
runc:
Version: 1.0.0-rc8+dev
GitCommit: 3e425f80a8c931f88e6d94a8c831b9d5aa481657
docker-init:
Version: 0.18.0
GitCommit: fec3683