I've shot a bit with our 20 rounders in the SMG and they "feel" handy but I did not note a problem using the 32rnd (SMG) or 30rnd (Mk18) mags in the cross-loads/bailouts I've done.
Using a 20 round would not offer any benefits if the weapon is being carried in the bags we use, either.
I wouldn't feel inclined to use a 20 round mag for my purposes.
YMMV for your purposes. If I was carrying an AR as a field gun in a domestic outdoors deal, I would probably never use anything greater than a 20 round mag, maybe even use a 10 round P-Mag for a lot. Grabbing the AR off the rack to shoot a predator vs being on the receiving end of an ambush, mission drives the gear train, that whole bit.