Let's call that 64 bytes/packet for a small packet.
20ms/packet = 50 packets/sec = 3200 bytes/sec = 3.125KiB/s.
For comparison, a copper-wire non-broadband modem in the early '90s ran at 33.6kbps (kilobits/sec) which worked out at 4.1KiB/s. So a packet every 20ms wouldn't even saturate 30-year old modem tech. And believe me, that was slooooooow!