I like to do System Disk Cleanup (old restore points too), After an empty... Restore Point is created, so Win is no longer keeping track of system changes.
In old Win 7- I seem to recall it was on every Tuesday after 1hr of No activity...?
What day of the week, and what are the conditions for Win 10 20H2?
Best I can say is from experience, rather than anything I've read- irregularly.
You can examine this scheduled task on your system:
System Restore is great when restoring succeeds.
Consider using the tutorial to set a schedule for restore point creation e.g. daily. You will find you have considerably more.
Automatically Create System Restore Point on Schedule in Windows 10
Change System Restore Point Creation Frequency in Windows 10
How to Make Windows Automatically Create a System Restore Point at Startup
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