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I have tested this FW and it had no effect on the KP I experience.

I have basically retired my TS3+. I bring it out for every point release of Catalina and test on my 16” and my 2016 15”. So far I get a KP within hours.
 
So I figured out the problem with the flickering. I changed my displayport version from 1.2+ to 1.2 and the problem went away. TBH with sidecar at my disposal I never dock my 16MBP but if you are experiencing flickering I would suggest toggling through your monitor settings.

monitor.jpg
 
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I’m running 1 4K in clamshell, no problems. Can you at least get a single display running. I’ve had to unplug my dock once because the display wouldn’t wake from sleep, definitely software bugs.
Everyone can get 1 4K without issue. The problem is getting 2. You might get it to work for a week or a couple of days, but then it gets flaky.
 
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