Flingblade,
I think you just told us why you had no control at 20 yards.
You failed to use the bridge. Most everyone can use the bale at 2 yards and work on the form. The "key" is to bridge back from there. You can't just go back to 20 yards and expect all to be well. You begin your bride by going back one more step from the bale and stay there until you have "complete" control. Then... another step back, then another... and so on.
...and the most important (perhaps) is not to fool yourself. Don't move back until you have complete control where you are.
Rod Jenkins teaches this on the MBBIII dvd and in his clinics. Example: You shoot 30 shots on the bale. When you can make every shot without a less than perfect shot you begin the bridge. You take a step back, and shoot. If you can shoot 30 shots without a "less than" then you can move back anther step. If you have a less than, go back up the bale and finish your drill. Again... the key is to not fool yourself. Don't move back until you have complete control.
Unfortunately, most TP sufferers aren't willing to put in the work and time it takes to beat this #$%^^$ stuff. I'm 13 months in, and almost there. I had a neighbor who has done the drills, and he is in control. It took him 9 months.