Telmatochromis sp. "Orange Scribble" ?

I'd agree they're t. orange scribble, or sometimes called t. dhonti 'orange'. I've only kept temporalis, but from what I've read, these will get big and mean like dhonti, so keeping it with anything else will be a challenge. If you must, try cyprichromis, no rock dwellers unless they're larger than the telmats and the tank is large enough to allow each a territory. Supposedly they will form harems like temporalis. Also like temporalis, easy to sex, so don't hesitate to get more than one female, but stick with one male only. If they're all the same age, pick one obvious large male and a few smaller, hopefully, females. Scatter some rocks around a sand bed deep enough for them to dig out around the rocks. If they're anything like temporalis, you'll enjoy them.

Should a 20g long do or should I go for something larger?

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I'd go larger if you can. I'd limit to 1m/2f in a 20 long as they do get quite big.