Living off 20k a year in a Hcol, where these salaries primarily occur, is next to impossible. Rent alone anywhere in SF area, for example San Jose, is 2k at a bare minimum for a 1BR, or 3k for a 2BR split between a roommate at 1.5k each. That means rent is 18k-24k, not to mention other living expenses (car, utilities, food, travel to visit family, etc.)
If you went to school at say UCLA you are already used to living with a roommate in your bedroom (sometimes four). That's $1000 in san jose. Say you have a partner, now it doesn't even seem so desperate. Now you are at $12k rent alone. Fly spirit and buy the airfare long out to visit mom and dad when tickets are like $200 (i get emails for $49 spirit fares sometimes). call it $13000 with five visits home a year. Food wise you can easily do $50 a week groceries buying basic ingredients like fresh produce and rice or tortillas and beans. Now we are at about $16000 with all your needs met and about $4000 left over for any oddball expenses. SF area has bussing too, and bike lanes if you didn't want to bother with car expenses.