Support for Windows 10 version 2004 is included in Robotic Automation 19.1.49 and later.
Be aware that a Microsoft KB inadvertently introduced a .NET issue that can cause Microsoft Visual Studio to crash when you dock and undock panels, like the Property Grid or Object Explorer. Microsoft recently released a fix for this issue.
For this version of Windows 10, be sure to download and install the Visual Studio dock-crash fixes in KB4601554. Microsoft released KB4601554 on May 11th.