This issue appears to be documented here:
https://docs.ceph.com/en/latest/releases/nautilus/#instructions

Complete the upgrade by disallowing pre-Nautilus OSDs and enabling all
new Nautilus-only functionality:

# ceph osd require-osd-release nautilus
Important This step is mandatory. Failure to execute this step will make it 
impossible for OSDs to communicate after msgrv2 is enabled.

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https://bugs.launchpad.net/bugs/1874939

Title:
  ceph-osd can't connect after upgrade to focal

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