2020 was an exciting year for Solar System science. With the Zwicky Transient Facility, we discovered >180 new near-Earth asteroids, including the first known asteroid to be located entirely within the orbit of Venus, 2020 AV2, and some of the closest asteroids to fly by the Earth such as 2020 QG. While also observing asteroids with ZTF, we observed several interesting comets, such as the second interstellar object, 2I/Borisov, and transitioning active Centaur P/2019 LD2 which combined with observations from Spitzer and HST revealed their physical properties and nature of their activity. Finally, we were also able to study the physical properties of the second known asteroid to be geocentrically captured by the Earth-Moon system, aka a "minimoon", 2020 CD3 and episodically active asteroid (6478) Gault with observations by IPAC and Caltech assets.