[CMake] Bumps minimum version to 3.20.0.

This partly undoes D137724.

This change has been discussed on discourse
https://discourse.llvm.org/t/rfc-upgrading-llvms-minimum-required-cmake-version/66193

Note this does not remove work-arounds for older CMake versions, that
will be done in followup patches.

Reviewed By: mehdi_amini, MaskRay, ChuanqiXu, to268, thieta, tschuett, phosek, #libunwind, #libc_vendors, #libc, #libc_abi, sivachandra, philnik, zibi

Differential Revision: https://reviews.llvm.org/D144509