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I don't know if there have ever been drivers for VIrtualBench in NXG. Supposedly, a LabVIEW 2019 version of the driver is coming. I have heard nothing about a LabVIEW 2020 driver version.
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I think following these instructions might work. I have done it on a LV2020 installation after installing the 2019 VirtualBench driver. I have not yet tested it, but I have full access to the menus and the VIs seem to be runnable.