Abstractly guessing like this really doesn't help, sorry.
There's nothing related to the camera in the firmware you're talking about, you're talking about the bootloaders, modem, and trusted execution environment stuff, none of that is going to have one single effect on camera, not at least at this layer.
This is likely at the camera HAL layer, probably some obscure piece to change, some time out, some symbol, etc but at the moment none of the typical things that we would look for to notify us that these are in fact issues are showing up, so we're pretty much stabbing blindly.
Getting old for proprietary binaries to work isn't a fun process, and I'll get it working when we're able to figure out what the issue is, if anyone wants to go debug individual components from 19.1 and try them on 20 to see if they can isolate where exactly the issue is, that would be helpful, other than that, I'll get to it at some point.