The Ubuntu 20.04 Root on ZFS for Raspberry Pi instructions should work for both microSD cards and USB SSDs.
I have created a preliminary version of the instructions for installing on both microSDs and USB SSDs. Before I create a Pull Request, additional testing and review would be greatly appreciated.
https://github.com/scott-ainsworth/openzfs-docs/blob/usb-ssd/docs/Getting%20Started/Ubuntu/Ubuntu%2020.04%20Root%20on%20ZFS%20for%20Raspberry%20Pi.rst
Thanks,
Scott