Please post the complete Kernel Panic report here using the "Additional Text" icon which looks like a piece of paper on the forum editing toolbar. Kernel Panic logs are located in "/Library/Logs/DiagnosticReports" with a file name usually containing "kernel" and/or "panic". If there are no Kernel Panic logs in that folder, then look in the "Retired" subfolder. I'm curious if the EtreCheck reports summary of the panic may have missed a critical item that may provide a clue for us.
The only possible software I would question is the Magic Control Technologies and the VPN software. VPNs do not provide the privacy & security people think they do unless they are being used to connect to an employer's network and then most people will use the VPN software the employer supplies. See the following article about VPNs:
https://gist.github.com/joepie91/5a9909939e6ce7d09e29
Otherwise I will leave the software diagnosis to the others since I am not a macOS software expert. I just pointed out items that I've never seen in any other report.....unusual is usually a good place to start when troubleshooting problems.
Also, try running Disk Utility First Aid on the hidden Container to check the condition of the file system. Within Disk Utility you may need to click "View" and select "Show All Devices" before the hidden Container appears on the left pane of Disk Utility. Even if the First Aid summary says everything is "Ok", click "Show Details" and scroll through the report to see if any unfixed errors are listed. If there are errors, then run First Aid again until the errors are gone. If the errors remain after several scans, then try running First Aid while booted into Recovery Mode.
If none of our suggestions so far help, then I would suggest the nuclear option of performing a DFU Firmware Restore which will reset the T2 security chip, system firmware, and internal SSD (the data on the internal SSD will be destroyed). This will require you to reinstall macOS through Internet Recovery Mode. Make sure to have a good backup of your data before performing this operation.
If a DFU Firmware Restore doesn't solve the problem, then most likely the Logic Board in your laptop is bad. The Logic Board in your particular model laptop (MBPro 16" 2019) does have a high rate of failure compared to earlier models. If there is a hardware issue, then I do not recommend spending any money on repairs for multiple reasons (one is that some users have noted having the replacement Logic Boards fail almost as soon as they get home after a repair & Apple confirms another bad Logic Board). The money spent on repairs for the Intel Macs is better put towards a new laptop.
I agree with @John Galt that Apple did a very poor job diagnosing your laptop. I'm sure the battery was either worn out or failing, but it was highly unlikely to be the source of your problem.....an experienced tech would have known that, but Apple's techs have no clue how to read or deal with Kernel Panics.