Thanks; that's a possible indication that something is wrong, but the fact subsequent backups seem to be occurring uneventfully then I'd tend not to be concerned. Perhaps the external drive "goes to sleep" and isn't waking fast enough for TM and it gives up prematurely, or perhaps its power became momentarily interrupted in the middle of the night, but those are merely guesses.
Your first priority ought to obtain an additional backup device and start an additional, redundant TM backup, assuming you don't have one already. It does not need to be connected simultaneously, nor does it have to be as large as your existing one, but it can be. TM will back up to as many devices as it has available.
The reason for that recommendation is to address the possibility the 6TB external drive is beginning to fail. One and only one backup doesn't comprise a robust backup strategy for the simple reason drives can fail at any time, sometimes without warning.
The fact it's 90% full does not bear on the problem at all. It's normal and not a concern. Every TM backup volume will eventually approach (but not quite reach) 100% capacity, after which will begin to delete old backups. At the other extreme, bear in mind TM guarantees an absolute minimum of one and only one backup that it will never delete. A 6 TB backup drive is likely to contain many more. Since most Macs don't have anywhere near that amount of internal storage I'd be surprised if TM were to inform you it could not back up due to insufficient space. That's a different dialog than the one you described. If that were to occur, the reason is usually the presence of other files, such as Time Machine backups of other Macs.
Possible that option was deleted in OS 10.15.1 or something earlier?
It's possible. I'm not at a Catalina-running Mac right now I can't be sure if that option remains available or not. Personally I don't think it's very useful anyway, and probably only caused unjustified concern. Time Machine's Preferences already shows the time period each backup device contains, whereas often cryptically worded dialog boxes are easily misinterpreted. That misinterpretation sometimes leads people to doing things they shouldn't do... such as manually deleting files using the Finder in a misguided effort to create more space on their own. You can do that, but there are a lot of caveats, and it takes a very very long time. I strongly recommend not doing it.