I heard that glass cats can get up to 6 inches in length and do better in atleast groups of 6.

I would skip out on these and just go for the otos, cories, neons, and rams.
If you're wanting a hardier ram, I would go for a pair of bolivian rams. Although they aren't as colorful as the german blue rams which need VERY good water conditions.

They also sometimes just die for no apparent reason at all.

They can be fragile fish, so watch out with these guys. They make a great addition to any community fish and look gorgeous in planted tanks.
I would get 2 rams, 4 otos, 6 cories, and then a group of like 8 neons maybe.
The neons are a mostly mid-dwelling fish, the rams will be a mid to bottom dwelling fish, the otos will usually just hang on the side of the glass and show you their fat little tummies (

) and the cories will be bottom dwellers. That really leaves nothing as a "top-dweller", but since it is a 20 gallon long, it isn't that tall anyways, so the neons would serve as the top-dwellers kind of.
Sounds like it will be a pretty tank! Goodluck!