Anecdotal evidence, but I've recently gone through my ancient CD collection (in so doing, I found Ubuntu 6.04 installers, AOL dial-up CDs and other relics) and archived them with GNU DDrescue. It had no problem reading all bar a handful of CDs from the mid-to-late 90s and early 00's - the failure rate was much lower than I expected. The failures were mostly completely visually identifiable too - the layers had starte…
It was mostly cheap CD-R from that period, and frankly you needn't wait 20 years for them to fall apart, they'd start failing under 5. Quality CD-R from good brands survived just fine.