I believe this article can be an useful summary. I’ve just started reading it and I’ve seen you mention a few times:
KiCad 6.0 is expected to arrive in the second quarter of 2021
Don’t know if it’s a typo or too much optimism, hehe!
My impression after reading Yet another release date 6.x question is that it could be closer to the end of the year. Anyway, there’s no guarantee and it will be ready when it’s ready.