Hello
I think it varies plant to plant, some have longer life cycles and those I always try to give bigger pots. But with indoor autos i usually stay with the 11-18 liter sizes. Occasionally I'll run some small ones 3.87 L and I've gotten some very nice plants, but I really feel like plants are definitely limited by their root space.
I think your 20 L pots are good, being an airpot style you could definitely go several liters smaller and still get great results though because of the air pruning of the roots.