As a followup, I found that the Catalina update to Beta 10 (Sept 30) resolved this issue for me. I have left my driver at 5.1.1 and now the D6000 acts like it did with Mojave.
I still get the occasional issue, i.e. screens go black for a second after the first five min of use, but it will either come back in a second or two, or I need to re-plug the dock.
So far all day today its been solid.
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