After further investigation, Matworks Support suggested that I quit using a second display since the company does not fully qualify its products on multi-monitor systems (!). I have also been advised to stop opening the Mechanics Explorer Window...
At last, the issue disappeared once I uninstall a previous Matlab distribution (2019a). I suspect that the need to reactivate the licence to use 2020a again was the solution. Is it possible that the licensing mechanisms of Simscape Multibody are slightly different from Matlab/Simulink ones?
I also uninstall Nahimic and MSI True Color from my laptop the day the issue was resolve.
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