mmm... I have just discovered this exact problem on macOS Catalina 10.15.3 on a Mac Mini 2014 with a USB Superdrive.
Right click on a bootable iso file, and try to burn it...."The disk image is invalid."
Tried to do a dd to the raw device file of the superdrive. Would not do it! Must be a change at the kernel level!
Then tried the hdiutil that has been mentioned. Seemed to successfully write the file, but that DVD would not boot properly on a PC.
Then suspected the iso file itself even though it's SHA-256 was OK. Tried it on an ESXi VM and it booted fine!
The problem is definitely within Catalina! Not good!!
Just called Apple Support who confirmed it, but no note of a fix yet.
Now I am going to try my USB Superdrive on a Windows 10 PC with Apple Bootcamp drivers....but this should not be this difficult!!!
Come on, Apple!! :)