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You're not gonna attach a mechanical follow focus to the 20mm, or if you do, you're gonna have to put up with being called silly. It's just such a tiny lens and with its imprecise focus ring, a manual follow focus would be fairly ridiculous to use with it.
You can manual focus it, but it's not the best lens in the world for that.
You can use a remote focus controller, that'll give you a lot of precision over focus.
Autofocus only partly works with the 20mm. It doesn't do regular full-time autofocus, it only autofocuses when you hold down the "push auto" button.
The 20mm pancake is a great little lens, I like it a lot, but it does have a few restrictions that go with it.