Kernel Panic causing Macbook Pro to restart during sleep

The panic is a general protection fault, but the log does not reveal the culprit. See the following for more help:

Dealing with Kernel Panics

Disconnect any third-party peripherals including any USB hubs. How to use safe mode on your Mac, Use safe mode to isolate issues with your Mac - Apple Support then boot the computer into Safe Mode: Use safe mode to isolate issues with your Mac - Apple Support and Playing Safe- what does Safe mode do? See Diagnosing problems- crash, freeze, panic, or spinning beach ball?, Don’t Panic! Understanding & Troubleshooting Kernel Panics in macOS, How to fix kernel panics after installing OS X updates | MacIssues, and If your Mac restarted because of a problem - Apple Support.

Kernel panics are indicative of possible hardware failure, so you should Check your Mac with hardware diagnostics or AHT. Kernel panic logs are found in: /Library/Logs/DiagnosticReports/ folder.

If you have no success figuring what is happening, then you may need to examine the software that you are running when the panics occur. Be sure it’s all current. If you must to resolve the problem erase the disk and reinstall macOS. Follow this outline to reset the computer to the factory-new state: Factory reset of your Mac - Apple Support.

Boot Into Safe Mode

1. If your Mac isn’t already shut down, then shut it down and wait at least 30 seconds before rebooting.
2. Immediately, at or before the chime, press and hold down the SHIFT key. 
3. Release the key after the Apple logo and progress bar appear.
4. Safe mode startup is much slower than normal startup, so be patient.
5. When the Login Screen appears, enter your admin password. If you use automatic login, then this means you are in safe mode.

Kernel panics are predominantly caused by third-party kernel extensions or hardware faults. Since you have no third-party kernel extensions, it is likely a hardware problem.

It also could be some problem in Apple’s kexts, but that is rare.

Apple Diagnostics most likely cannot find the fault. You would need to take it to an Apple Store or Authorized Repair center.

Work through the following. Next time you return to Sierra, please do not upgrade to Catalina. You need to first check if you get panics while running Sierra.

A Troubleshooting Procedure that may Fix Problems with macOS El Capitan or Later

You should try each, one at a time, then test to see if the problem is fixed before going on to the next.

    If possible, backup your files before proceeding.

1. Shut down the computer and disconnect all third-party peripherals.
2. Wait 30 seconds before you restart the computer.
3. Resetting your Mac's PRAM and NVRAM
4. Reset the System Management Controller (SMC)
5. Reset your Startup Disk and Sound preferences, if needed, after resetting the PRAM.
6. Test in safe mode to see if the problem persists, then restart normally. See How  to  use  safe  mode  on  your  Mac.
7. Repair the disk by booting from the Recovery HD. Immediately after the chime, hold down the Command and R keys until the Utility Menu appears. Choose Disk Utility and click on the Continue button. Select the indented (usually, Macintosh HD) volume entry from the side list.  Click on the First Aid button in the toolbar. Wait for the Done button to appear. Quit Disk Utility and return to the Utility Menu. Restart the computer from the Apple Menu.
8. Create a New User Account Open Users & Groups preferences. Click on the lock icon and enter your Admin password when prompted. On the left, under Current User click on the Add [+] button under Login Options. Set up a new Admin user account. Upon completion log out of your current account, then log into the new account. If your problems cease, then consider switching to the new account and transferring your files to it - Transferring files from one User Account to another.
9. Reinstall a Combo Updater  macOS  Catalina  10.15.7  Combo  Update, macOS Mojave 10.14.6 Combo Update, macOS High Sierra 10.13.6 Combo Update, macOS 10.12.6 Combo Update, OS X El Capitan 10.11.6 Combo Update.
10. Reinstall OS X by booting from the Recovery HD using the Command and R keys. When the Utility Menu appears, select Install OS X then click on the Continue button.
11. Erase and Install OS X Restart the computer. Immediately after the chime, hold down the Command and R keys until the Apple logo appears. When the Utility Menu appears:

     1. Select Disk Utility from the Utility Menu and click on the Continue button.

     2. When Disk Utility loads, select the drive (out-dented entry) from the Device list.

     3. Click on the Erase button in Disk Utility's toolbar. A panel will drop down.

     4. Set the Format type to APFS (for SSDs only) or Mac OS Extended (Journaled.)

     5. Click on the Apply button, then wait for the Done button to activate and click on it.

     6. Quit Disk Utility and return to the Utility Menu.

     7. Select Install OS X and click on the Continue button.

PDDollars wrote:

So I booted into Safe Mode and the kernel task panic still occurs

Then, you still have a hardware problem.