Have I really not went through puberty at the age of 20 and with the following information? I am a 20 year old male and my penis is 2 inches long (non erect), my voice is not deep, my testicals have not dropped or look bigger from years ago, and I do not

Totally possible. If you haven't developed the characteristics of an adult male, eapecially when it comes to your genitals, it is possible that your testosterone never did its job. You should consult with a hormone specialist (endocrinologist) for a good work up after talking to your primary doc.
This . This certainly sounds like a situation that needs to be evaluated. I would suggest that you see a doctor for some testing. It may be that you need some hormonal supplementation. Look in your area for someone who specializes in andrology.