Couple of points I would identify here based on my limited experience and knowledge.
1 - As mentioned, 20W is not a lot and also the sun at this time of year is pants, evidenced by the rapid drop in our solar export numbers for the house. You would need to be somewhere very sunny and constantly turning the panel to maximise power.
2 - I think in the T5 the socket is connected to your starter, but for others reading this with later 6.1’s, it’s not, so you would be trying to charge the leisures. So it should work, but see point 1.
3 - The VW manual does also state that it does not reccomend that the lighter be used for power input. Given the thickness of the wires to the lighter and fuses this makes sense, but for a 20W panel not likely to cause any overheating issues, again, see point 1.
We have the usual 100W on the roof and keeps our leisures topped nicely. Starter, not so much as it is a trickle situation so we just drive it every week when not using in anger, like now.