Nothing external connected? Like USB hub with external drives.
I have done a clean install of Catalina 10.15.6 (19G2021) in a separate APFS volume on the same drive where I have my original Catalina install, and I still have trouble with waking the computer from sleep. Kernel panics with ”com.apple.driver.AppleSMC” in the log (similar to your log above) and also a few occasions where my main display (I have two connected to the computer) stays dark and the second one is turned on, but only shows me a spinning beach ball – can't do anything.
At the same time all this is on a MacPro5,1 which isn't officially supported, but since the problems I have are similar to those with supported Mac and since it seems not all wit MacPro5,1 has the ”watchdog” Kernel Panic I am really curious as to what is going on here. I'm repeating myself, but I have no similar problems when waking my work computer which is a 13" MacBook Pro from 2018 so it seems it's not affecting everyone –I think we'd hear more about it if every Catalina install was suffering from it.
Strange huh? 🤔🤷♂️