Nothing about the fog lights changed for MY2020, that I know of, so all those other threads should still apply.
I put black OEM LED fogs from the TRD Pro (Toyota part # PT413-42191) on my 2020 SR5 Premium. They just dropped right in, no alterations. They're definitely street legal. They're brighter and have a wider throw of light than the stock halogens I took off. Added bonus for me is that they got rid of the bright chrome circles. Read more about doing this
here.
If you want yellow, you could apply yellow Lamin-X film to the lenses for about $15. Good luck on your search and decision.