I Have been having the same issue on Catalina. I am currently updating to the latest Catalina update,
The same thig has been happened to me. I opened the lid and the keyboard and trackpad weren't responding but I was able to login with touch ID. I waited a few minutes and no change...
then I realized I had some Bluetooth peripherals connected (An Old Mighty Mouse) and I disconnected it.
Right away! I was able to use the trackpad and keyboard.
Just thought this thread should know if anyone is having the same problem still.
Fair warning, I haven't read this thread thoroughly and am not sure if the same info has been shared.