I think you haven’t a lot of differnt feature and you will have not problem. Also, for be sure, you check “what is new” of sap between 2020 and 2021 on this page:
respect of the features of the connector:
Also, in this page you can find all supported module:
https://community.sailpoint.com/t5/IdentityNow-Connectors/SAP-Direct-Source-Configuration-Reference-Guide/ta-p/74949
Usually SP writes the supported version, if it isn’t written there I think is support.