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For a while, ROS Noetic did not support the tf_prefix parameter so the respective robot_state_publisher nodes are publishing data to the same frame names. PR 169 has added this functionality to Noetic, but, as of writing this question, has not made it into the debian release. You can install the latest source code version of this package with the following:

cd ~/my_workspace/src
git clone https://github.com/ros/robot_state_publisher.git -b noetic-devel
cd ~/my_workspace
catkin_make
source devel/setup.bash

Which should resolve the issue until the binary of version 1.15.2 is released

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