The best replacement for xa20 is xa25.

The best alternatives to xa20 are rated as following:
★★★★★  xa25
★★★★  xa10
★★★★  xf100
★★★  g30
★★★  nx30
★★★  hfg30
★★  ac90
★★  ag-ac90
★★  xf105
★  nx70
★  hf g30
★  panasonic ac90
  sony vg30
  sony nx70
  sony nx30

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