20 psi when? At warm idle, so long as it rises with engine revs, you are not alone and needn’t worry too much. If 20 psi is the best you get, then it’s still safe to drive but may need bottom end attention soon. The standard oil warning light operates at 3-5 psi!!
First thing to do is check your gauge; undo the union on the transfer housing and test pressure with a known good hand held gauge, also look for leaks at all joints and bends in the pipe connecting gauge to transfer housing.
If low pressure prevails, then it is probably main bearings or pump/relief valve.
I presume you have enough oil in the sump...of the correct grade?
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