Wheel size has no bearing. If a tire size fits with an 18" rim, a tire of similar width and diameter will fit on a 20" rim. For instance, the OEM Pro4X size for Gen1 Titans was 275/70r18, which measures 10.8x33.2, roughly. So a 20" tire which also measures roughly 10.8x33.2 will fit, such as a 275/60r20. At stock height, you won't likely fit a tire taller than 33.5" without some contact at the rear of the front fender opening. With a level (1.5" in front) you might get lucky and fit 295/60r20 (33.9x11.6) but you may rub either the fender liner or the frame rail or both.
Two other sizes to consider would be the 305/55r20 and the 285/60r20. The 305 may present some issues if your OEM wheel is 8" width, as the minimum recommended rim is 8.5" for those. The 285 will be about 33.5x11.2, and should fit with a level (but since every Titan is different, you may have to trim the pinch weld and heat the fender liner).