Hi, I am testing civicrm 5.20.2 + Drupal 7.68 (with CAS module) and I have a similar problem. The Civicrm session object does not contain variables (userID, ufid etc...). (This is a critical issue for authentication...)
I have given this the regression label because this sounds like a regression to me. Feel free to remove that label when you think it is not a regression bug.
I have spent more time on this issue and have created a patch (that fixes the issue on my side).
As of Drupal 7.68, drupal_session_regenerate() can close the PHP session and create a new one : a new $_SESSION variable is instantiated.
So we need to update the reference to $_SESSION in CRM_Core_Session.
Aside wrt target version: I think it'd be fair-game to fix compat w/Drupal 7.68 in a 5.x.y patch update. The main thing is that the patch touches code which is a bit dicey (central/shared, not a lot of test-coverage, sensitive to CMS/environment issues), so one wants pretty decent r-run coverage in diff environments. If no one is in a good position to do that for a 5.x.y patch... then +1 for going through master and a full alpha/beta cycle.
Just wanted to note the Australian Greens ran into an issue where the CiviCRM menu wasn't loading on 5.19.4 on initial login however loaded fine on refresh, Applying this PR seems to have fixed the issue.