Hi David,
I had similar issues installing updates. I resolved the issues so I wrote my troubleshooting steps below for you.
I noticed the lingering update was an issue for me for a few updates as well.
Security Intelligence Update for Microsoft Defender Antivirus Version: 1.343.134.0 stopped installing at 20%.
I ended in task manager with no joy because the service was utilizing 100% disk. It was no longer close to 100% after the task restarted itself.
The fix action for the update was restarting the computer for another update that had just finished installing.
Also the feature update to Windows 10, version 20H1 failed to install multiple times on my computer.
I tried restarting the service and restarting the computer, with no joy.
The fix action for this update was turning on a service called "Windows Update Medic Service." This service needs to be manually turned on. After starting this service and restarting the "Windows Update" service my computer installed the rest of its updates with no problems.
I hope this helps.