Thanks for the info! A 20-minute delay does seem like a long time to keep the lights on. Is the goal to keep them on while showering? If the motion sensor isn’t detecting movement in the shower.
One approach you could consider is reducing the delay and using another method to keep the lights on, like a door sensor or even a fan trigger. If you’re controlling a bathroom fan with Home Assistant, I’d recommend checking out my 
Bathroom Humidity Exhaust Fan blueprint, which includes an Automation Link for keeping lights on during a shower.
Also, if the lights still turn off too soon, you could try using my 
Bee In The Hive Sensor, which combines multiple sensors for smarter room control. That might help better detect when someone is in the bathroom even if the motion sensor misses them.
Blacky 