The way to address this, given that 6.18 is in pre-release stage
(aka in development) is to use the development version of the
client:
https://doc-kurento.readthedocs.io/en/latest/user/installation_dev.html#kurento-javascript-client
this way you'll get a client version that is able to communicate
with both Kurento <= 6.18 and 7.0 at the same time.
Kurento 6.18, i.e. the nightly dev packages, cannot be installed in
Focal, because Kurento 6.x is only built and tested for Ubuntu 16.04
and 18.04. Although you can always use the Docker images, which are
handy because they can run anywhere Docker runs, regardless of needs
of Kurento, as you did.
Note there is already a 7.0 Docker image for use:
kurento/kurento-media-server:dev-7.0.0
Which is essentially the same thing as yours (Ubuntu 20.04 with
apt-get install kurento-media-server)