Yes, It's always recommended to update your Uber Jar version but not mandatory.
Additionally, it also recommends updating your Core Components version (the latest one).
It is also advisable to check the AEM documentation and release notes for SP20 to see if there are any specific plugins or libraries that require upgrading along with the uber-jar.
https://experienceleague.adobe.com/en/docs/experience-manager-65/content/release-notes/release-notes