5.1.2 beta to 5.1.1 solved it for me
After Catalina and DisplayLink 5.1.2 beta software (as suggested), my screens still did not work (MBP screen flashes when plugging in the dock, other screens remain in sleep mode). Permissions to record screen were given and I tried installing/re-installing multiple times.
Downgrading from 5.1.2 beta to 5.1.1 (which works fine with Catalina for now) solved it for me.
I originally thought that 5.1.2 did not work because the kernel was not loaded (Loadable: Yes, Loaded: No), but it's working with 5.1.1 and it still says not loaded (see below). Hope the devs can provide smoother solutions with the next upgrades.
DisplayLinkDriver:
Version: 5.1 (40)
Last Modified: 09.10.19, 09:39
Bundle ID: com.displaylink.driver.DisplayLinkDriver
Notarised: Yes
Loaded: No
Get Info String: DisplayLink Driver 5.1.40 - Copyright © 2003 - 2019 DisplayLink (UK) Ltd. All rights reserved.
Obtained from: Identified Developer
Kind: Intel
Architectures: x86_64
64-Bit (Intel): Yes
Location: /Library/Extensions/DisplayLinkDriver.kext
Kext Version: 5.1 (40)
Loadable: Yes
Dependencies: Satisfied
Signed by: Developer ID Application: DisplayLink Corp (73YQY62QM3), Developer ID Certification Authority, Apple Root CA
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