Not sure if they changed sonething in the 2020 Wrangler but i read this procedure and it worked to go from 2H to 4H. This was the first time i tried since buying the car. I went straight back with slight pressure to the right and it slipped right into 4H. Used a little muscle but not much. I did it 6 times in a row moving and stationary. All worked with no problem.
I think most people when pulling on the shifter have a tendency to add pressure to the left. I turn my hand around so there is no possible way to have pressure to the left.
Like I said not sure if they changed something in the 2020.
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