I have this problem on my 2010 MacPro running Catalina 10.15.4 (19E287). The details follow and it may be the same or a related issue, but the thing to consider is that for some people it may be driven by the USB peripherals plugged in.
For me, I have diagnosed this occurring when I have a USB Xbox 360 controller plugged in, that had been accessed, when the computer went to sleep. On wake this KP occurs. To duplicate this, on the Xbox controller the ring around the X button must either be flashing, have a single element lit, or have been accessed by a game when the computer goes to sleep. I have played the game (Steam - Life is Strange) without the controller plugged in, let the computer sleep, and have had not had a KP on wake. I have used the computer doing other things without the controller plugged in and have not had a KP. I have rebooted, plugged the controller in, and with the lights not lit, let the computer sleep and it wakes without a KP. On the wake, the controller’s lights were flashing and on the next sleep and wake, the KP occurred. If I play the game with the controller and let the computer sleep, the KP occurs on wake every time. This occurs with the controller plugged into the computer directly or with it plugged into a hub.