Kubernetes version 1.20.6 does not recognize the autoscaling/v2 api. I believe the autoscaling/v2 api was introduced in Kubernetes version 1.23.
A possible solution would be adding this to the _capabilities.tpl:
{{/*
Return the appropriate apiVersion for HorizontalPodAutoscaler object.
*/}}
{{- define "capabilities.horizontalPodAutoscaler.apiVersion" -}}
{{- if semverCompare "<1.23-0" ( .Values.kubeVersion | default .Capabilities.KubeVersion.Version ) -}}
{{- print "autoscaling/v2beta2" -}}
{{- else -}}
{{- print "autoscaling/v2" -}}
{{- end -}}
{{- end -}}
And updating the hpa.yaml with apiVersion: {{ include "capabilities.horizontalPodAutoscaler.apiVersion" . }}
Thank you!