For me it was several years’ worth of GPS routes. Fortunately, I had a local iOS 13.7 backup made a day before the upgrade, still intact.
So, I purchased an iPhone SE2 with old iOS 13 at a local retailer to experiment with the backup, got my Health data back, including GPS routes. Merged it with fresh iOS 14 Health data this week.
On a positive side, having spent some time studying the problem, including opening a few cases and talking to several senior specialists at Apple Support, I believe I am better positioned to deal with these issues in the future. Somewhat like the case with Apple laptop in SATC episode back in 2001 https://www.imdb.com/title/tt0698650 : https://www.youtube.com/watch?v=YWSZJXhOvBw .
Apparently, Health synchronization, when enabled, is end-to-end encrypted in most cases; also, Health is backed up (synced) separately, not included in daily iCloud backup: https://support.apple.com/en-us/HT202303 .
Synchronization is done incrementally (only new/updated records, not the whole database every time). Which means that, theoretically, if you had Health iCloud sync enabled on iOS 13 before upgrade to iOS 14.0, some old data may still be there in the iCloud.
The easiest way to check without interfering with daily life is to use a spare empty iPhone (like I did), to which one could restore just the Health data. It seems that any iPhone that supports at least iOS 12 (iPhone 5S or later), even with small storage (only Health is restored) would do. If there is no spare iPhone, all the steps are still perfectly doable, but would require extra hours, more efforts, and careful planning to avoid accidental loss of data.
You would still discover the answer though whenever you migrate to the next iPhone, if you would do it using iCloud.
Alternatively, if you still possess a previous iPhone that was not wiped, or sometime backed up an iPhone to iTunes on PC (or Finder on Mac) with encryption enabled ( https://support.apple.com/en-ca/HT205220 ), e.g. when migrating data between iPhones, there may be a way to get GPS routes from there. In case of existing backup, one must not connect iPhone back to that PС/Mac prematurely, as the local backup may get automatically overwritten.
HTH