I would skip the 2020, it's virtually identical to my 2010 except for the color. I love my 2010, it's not picky about thread and it runs beautifully, the light on it sucks so I have magnetic LED lights on food cans that I can move around to where I need light and the walking foot sucks so I use a Janome high shank walking foot.
If you're on a budget or you don't care about speed control, look at the Juki 2000, it's identical to the 2010 except no speed control and the price drops from roughly $1k on Amazon to $700ish. High shank feet aren't that expensive to buy on their own and you can also get an adapter to be able to use low shank feet on the Juki, I have one it was $4.
another straight stitch only machine that many people love is the Brother 1500
https://www.amazon.com/Brother-PQ150...1901292&sr=8-3
https://www.amazon.com/JUKI-TL-2000Q...1901103&sr=8-2
https://www.amazon.com/TL-2010Q-1-Ne...1901137&sr=8-2
https://www.amazon.com/gp/product/B0...?ie=UTF8&psc=1