I can concur that Amphetamine works for me as well on my Macbook Pro 16" with an 8G AMD 5500 connected to a Thunderbolt 3 dock with two monitors. But, in addition to using this app I also employ the following steps:
1) Never connect the laptop in clamshell mode to a thunderbolt dock of monitors or individual monitors by themselves. First, open the laptop lid, wait for the laptop screen to wake, then connect to externals. Wait for the external monitors to wake, then return to clamshell mode. Immediately wake the laptop with an external keyboard.
2) Start Amphetamine, unless it is already running.
3) When you are done for the day, open up from clamshell, wait for the laptop screen to wake, disconnect all external devices. Set Amphetamine up so it isn't running when nothing is connected. Close laptop lid and put the computer to sleep.
I have had zero kernel panics for over two weeks now employing these methods.
A call to Apple support only suggested the usual suspects: Resetting your Mac's PRAM and NVRAM and Reset the System Management Controller (SMC). This is a waste of time for most people. The only other suggestion by Apple support was to do an OS reinstall, which I'm not going to do. I'll wait for Big Sur.