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Hey, I'm sorry but it seems like it's not possible to use tf_prefix in ros noetic since tf is deprecated. I have the same problem in a multirobot package, my code runs perfectly in melodic but in noetic the use of tf_prefix has no sense, so even whet the use of tf_prefix could be the solution, it's not possible to do it in noetic.
This same problems is also in this question. https://answers.ros.org/question/361279/robot-state-publisher-noetic/
And this link may help http://wiki.ros.org/tf2/Migration
If I find a solution I'll reply my answer, hope if you found a solution you could reply my answer too.
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