I had this issue too for several month until about two weeks ago. Meanwhile it is completely gone after a clean installation of MacOS 10.15.5. I did several clean installations before and they did not help at all....
Then I read this article on a German portal for IT ("heise.de") which has a good reputation. This article can be summarized as follows: Is is intended by Apple that the firmware of the device is updated when ever you install or update MacOS. But Heise found out that the firmware update often fails while the OS update succeeds and users do not get any message or alert about the failure of the firmware update. The result of the tests they did was that a significant number of devices have this problem: old firmware and new MacOS.
I know that it is a lot of work to reinstall MacOS and all the software required but I recommend not to give up. I tested my device without any additional software installed and only used safari and mail and I did not connect any hardware except the original charger. This was to exclude external programs or devices to cause the kernel panic.
So if the built-in hardware test is successful (press "D" at startup and run the hardware diagnosis) and the SMC-reset also does not solve your problem I can just recommend to try re-installing MacOS until your firmware was also successfully updated.
Its a shame that Apple does not fix this issue but they seem to be focused on rather developing new stuff than fixing the issues. For me personally I decided not to buy a Macbook again as Windows in my opinion is at least as stable as MacOS if not even better and the premium prices for Apple devices are by far not justified in my opinion. At least the Apple support is friendly but unfortunately not sufficiently competent to solve this kind problem.
Good luck trying!