Update NATS to 2.10.20, use `SyncAlways` (#3418) #3929

Job	Run time
Build for Linux (linux, amd64)	3m 56s
Linting	4m 35s
Build for Linux (linux, 386)	2m 12s
Build for Windows (windows, amd64)	2m 14s
Unit tests	3m 34s
WASM build test	0s
Initial tests passed	1s
Upgrade tests	6m 55s
Upgrade tests from HEAD-2	6m 39s
Integration tests	5m 29s
Complement (SQLite native)	4m 30s
Complement (SQLite Cgo)	4m 44s
Sytest (SQLite native)	5m 27s
Complement (PostgreSQL)	8m 49s
Sytest (SQLite Cgo)	5m 43s
Sytest (PostgreSQL)	6m 56s
Integration tests passed	4s
Update Docker images / Yggdrasil demo image	39s
Update Docker images / Pinecone demo image	34s
Update Docker images / Monolith image	5m 14s
	1h 18m 15s

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