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If you want to have a single node hosting your storage, ZFS either directly or through TrueNAS is the way to go. ECC is not really necessary.

If you do want to have a higher availability and as you have 3 potential nodes already I can recommend Ceph. It’s pretty much THE open source network storage provider and has been battle tested a lot. With Ceph you can define how you want redundancy configured, but I haven’t gone into that enough to tell you what to do.
As long as 2/3 nodes are up you won’t have problems, but less nodes will lead to either a broken cluster or split brain scenario if you’re not careful.
Not sure how Ceph handles nodes with mismatched drives, I only tested using the same number and size of drives. Maybe you’d have to get two more drives for your other nodes.

Re RAID: At the moment RAID 6 does not offer any advantage over RAID 10, so you could go with that instead. RAID 10 would provide higher performance, but future upgrades need to be done in pairs of 2 disks.
RAID 5 is okish, but with 20TB you’re looking at very long restore times and the likelyhood of failure is very high during the restore and it’s very likely you’ll have a half finished restore when a second drive fails.
See this article for an explaination. (The same issue also applies to RAID 6, but the drives can be bigger as you have 2 redundant drives. Regardless, RAID 10 doesn’t have this problem due to being so simple)

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