I have a 2018 15" MacBook Pro running OS X Catalina 10.15.5 (19F101). When I am connected to the company VPN (via the built-in client, no third party VPNs), and my computer goes to sleep, it often freezes for a few minutes when waking up.
When this happens, upon tapping a key or the track pad the screen wakes up, but the mouse cursor is frozen, and the keyboard does not seem to register any input. The touch bar still works (I can adjust volume, brightness, etc), and if I press Esc then the screen immediately turns off, as though it realized "oh snap, I'm actually still asleep". If I wait 3-5 minutes, it will eventually shake itself out of this stupor and wake up properly.
It also only seems to happen if it goes to sleep for at least a few minutes (so, only on actual sleep, not just display blanking).