Quick answer to this question: No, the Samsung Galaxy S20 models do not support rSAP.
Many hands-free kits only support the so-called "rSAP" profile. The abbreviation stands for "Remote Sim Access Profile". In a handsfree system with rSAP, everything is controlled via the car.
This means that telephony, as well as data services run via the car's GSM module and no longer via your smartphone.
To be able to use the handsfree system, it is necessary that your smartphone supports rSAP.
If you want to buy the Samsung Galaxy S20, S20+ or S20 Ultra, you should ask yourself beforehand whether these models support the Bluetooth profile. If this is not the case, the hands-free system of Audi, VW, Porsche, BMW, Mercedes and many more may not be able to be used.
Is rSAP supported by Samsung Galaxy S20, S20+ or S20 Ultra?
Samsung Galaxy S20: rSAP is not supported
Samsung Galaxy S20+: rSAP is not supported
Samsung Galaxy S20 Ultra: rSAP is not supported
You now know the answer that with the currently available Samsung Galaxy S20, S20+ or S20 Ultra models the Bluetooth standard rSAP is not supported.