As noted above the Mk 20 had three pistons. The early ones were stainless steel knife edged pistons. The middle production pistons used a brass rounded tip seating surface and a concave seat (intended to improve flow rate by eliminating the sharp edge), while the late production Mk 20s used a composite pistol with a stainless steel piston stem with a with a sort of knife edge seating surface and an Acytel piston head. That same piston was carried forward to the Mk 25 but it's been updated over the years with a mirror polished stem to improve cold water performance. The only difference between the last Mk 20 and the first Mk 25 was the adjustable seat retainer on the Mk 25, and that was the single minor change where Scubapro finally decided to call the Mk 20 a Mk 25.
Personally, I think the change in model numbers had a lot more to do with Scubapro wanting to give all it's balanced first stages odd numbers - Mk 11, Mk 17, Mk 25, Mk 21, etc.
Given the rounded seating edge, a mushy lockup is the norm for a Mk 20. Normally, you expect a Mk 10, 15, 20 or 25 to lock up with no more than maybe 2 psi of drift in the first 5 seconds, and no drift at all is very common, particularly once the seat breaks in. However on a Mk 20 with the rounded tip piston, 10 psi of drift in the first 30 seconds isn't abnormal.
Provided it does ultimately lock up at 140-145 psi, I would not worry about it. If it becomes a problem it's a quick and inexpensive fix to put in a Mk 25 piston, and if the reg is still under warranty the tech will do it for free when it comes in for service. A really good tech will replace it for free even if it is not under warranty as SP will swap the part out at no cost to the dealer.
The Mk 10 also has a knife edge and locks up very solidly as well. It's the Mk 10 Plus, developed at the same time as the Mk 20, that can have a mushy lockup as it used a steel piston with a slightly rounded seating surface and the same concave seat as the Mk 20. The first few years were interesting for the Mk 10 Plus as Scubapro searched for a seat material that was soft enough to seal, yet durable enough to survive a couple hundred hours of use before starting to creep. But, the seat material used now is great stuff and it shares the same seat with the Mk 20/25.