I've been battling this issue for a long time also. I am on Intel driver version 220.127.116.1141 and the Intel HD Graphics 520 driver appears to prevent the laptop from completing the sleep process and hangs after turning off the display, but leaves the laptop running. The only way I can currently get around this issue is to DISABLE the Intel HD Graphics 520 device altogether and revert to Windows' own default driver (Win10 1909 April 2020 Update, 64 bit).
(it seems my previous reply was lost and did not post - retrying).
I also have been experiencing this issue. I am using driver 18.104.22.16841 and when my computer wants to go to sleep, it begins the process, shuts down the display, but leaves the power light on my laptop (Dell Latitude 7480) and hangs at that point. The only way to resolve this is to disable the Intel HD Graphics 520 device from the device manager and revert to Windows' own internal basic driver. Not optimal, and a lot of applications become choppy, but at least it works for basic work.