Use the datum your designs and site control are in. Choose the wrong one and everything is out by about 1.5 metres. If you are not sure, ask whoever supplied the design.
NEAREST_20 sends GDA2020. NEAREST_94 sends GDA94. Both are included for every rover, and you can change between them in your rover at any time.
Both describe the same ground. They differ because Australia has moved since GDA94 was set.