If you don't need your 2020 RMD, or don't need all of it to live on, letting it remain in your IRA lets it grow tax deferred longer. Markets took a hit during this pandemic, so you stand a better chance of recovering if more cash remains invested longer this year. Also, as you say, if your IRS withdrawals make more of your SS taxable or put some income in a higher tax bracket, you might want to control how much, if any, you withdraw. Depending on your investments, this might not be a good time to sell to take withdrawals. If this is a low income year for you, and you don't need your full RMD for living expenses, it might be a good time to convert some of your Traditional IRA to a Roth IRA.
If you expect to be in a higher bracket or expect to need less to live on in 2021 compared to 2020, then you might want to take your RMD, or a larger portion of it, this year. As with anything tax, the answer is It Depends!