We report on new measurements of elliptic flow ($v_2$) of electrons from heavy-flavor hadron decays at mid-rapidity ($|y|<0.8$) in Au+Au collisions at $\sqrt{s_{_{\rm NN}}}$ = 27 and 54.4 GeV from the STAR experiment. Heavy-flavor decay electrons ($e^{\rm HF}$) in Au+Au collisions at $\sqrt{s_{_{\rm NN}}}$ = 54.4 GeV exhibit a non-zero $v_2$ in the transverse momentum ($p_{\rm T}$) region of $p_{\rm T}<$ 2 GeV/$c$ with the magnitude comparable to that at $\sqrt{s_{_{\rm NN}}}=200$ GeV. The measured $e^{\rm HF}$$v_2$ at 54.4 GeV is also consistent with the expectation of their parent charm hadron $v_2$ following number-of-constituent-quark scaling as other light and strange flavor hadrons at this energy. These suggest that charm quarks gain significant collectivity through the evolution of the QCD medium and may reach local thermal equilibrium in Au+Au collisions at $\sqrt{s_{_{\rm NN}}}=54.4$ GeV. The measured $e^{\rm HF}$$v_2$ in Au+Au collisions at $\sqrt{s_{_{\rm NN}}}=$ 27 GeV is consistent with zero within large uncertainties. The energy dependence of $v_2$ for different flavor particles ($\pi,\phi,D^{0}/e^{\rm HF}$) shows an indication of quark mass hierarchy in reaching thermalization in high-energy nuclear collisions.
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