My 2019 with 6.4 and 3.73's just rolled 6,000 miles. I did a trip from NH to VT and back, so not exactly flat. I maintained 68 mph on the highway; the front is lifted 2" with stock size General Grabbet ATX tires and the computer said I got just under 16 mpg. I had about 180 highway miles and 60 miles of back country roads and this includes the truck running for about 10-15 minutes in a parking lot to keep the AC on for my dog while we went into a farm store.
You won't see 20 mpg unless you're getting a diesel.
I suspect my mileage will go up slightly, but even so, my 2016 Ram 1500 with 5.7 and 3.21 rear with the front raised 2.1" and 34" tires got 17-18 mpg on the highway, so adding 1500# in weight, a taller truck,and far more capability, I'll deal with the fuel economy. I'm hoping I'll be able to eventually get 17 mpg in this truck.