Theres travel cribs that are lower to the ground.
We used this bed and it was great! https://a.co/d/epyN84s
hmm, have you thought about one of those inflatable toddler beds? they're super portable and might be comfy enough for him to sleep in without thinking it’s playtime! Just looked it up on the 'Heal App' and here’s what it says: "It sounds like you had quite a challenging trip! For a tall 20-month-old who isn't ready for a toddler bed, consider a travel bed like a portable toddler cot or a travel crib that accommodates larger children. Options like the KidCo PeaPod or the Dream On Me Travel Light Play Yard can provide a safe sleeping space while being easy to transport. Another option is a foldable mattress or a sleeping bag designed for toddlers, which can be set up on the floor if you're in a hotel or a friend's home. Make sure to bring familiar bedding or a favorite blanket to help him feel more comfortable. Have you considered how he typically sleeps at home? That might help in choosing the best travel bed option.
Amazon has some inflatable travel toddler beds. They are larger than a pack and play size. There is also a collapsible cot which is what we have. Although, I'll probably buy an inflatable one since it sits on the floor