Your Roku Express receives the streaming data from the internet via wifi. It decodes the data and converts it into a useable audio/video signal and sends it to the tv via the HDMI connections. The HDMI standards require the tv and connected device (Roku in this case) to negotiate their shared connection parameters before a connection is established. One of these deals with High Definition Copy Protection (HDCP) protocols that guard against making digital copies of the programming. Without operational HDCP in place the owners of the programming will not allow their signals to be transmitted to the tv. Error 20 refers to a failure in the HDCP negotiation.
Disconnecting the HDMI will force a new HDMI negotiation between the TV and the Roku when it is reconnected. Make sure both ends of the cable are inserted firmly into their ports. This may be all that is needed to correct an error 20 problem. If the error persists you may have a faulty HDMI cable, or the HDMI port on either the tv or the Roku may be faulty. If the tv has more than one HDMI port, you can try connecting the Roku to a different port to see if the problem persists.
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Streaming Stick 4K+ 3821 | Streaming Stick+ 3810 | TCL Roku TV 43S245/C107X
