FYI - yesterday was the first time I was able to take an OTA update (.020 C) and keep Magisk the way it is designed to work.
It's weird that it's taken this long for me to take my first normal OTA update, but I'm happy to report that it worked just fine. Normally the OTA takes forever to hit my phone and I get impatient or there is an error while updating, and I've always ended up sideloading the update. Yesterday I was notified about the update, let it install itself, and then backed out of the update screen when it asked me to reboot. I then opened the Magisk manager. I was actually concerned because there was an update to both the manager and Magisk itself showing. I had to update the Magisk manager first, and then it allowed me to install Magisk to the "second/inactive slot (After OTA)". All of this worked without a hitch and I rebooted the phone after installing Magisk. (I did not "uninstall Magisk" prior to taking the update).
The first boot took quite a while (it felt like 10 minutes), but the Google boot screen never started over (like it would in a boot loop) so I just let the phone do its thing and eventually it booted into the lock screen normally.