vCMP route-domain issue

You say "F5 can ping servers in VLAN 10 from VLAN 10 Self-IP", but also "VLAN 20, 192.168.20.0/24 server facing". Where are the servers located??

If VLAN 20, can you ping them from your self IP in VLAN 20 (use rdsh to switch to the right route domain)? Will you get a valid ARP entry for the server IPs in VLAN 20? If yes, is it in the right route domain? If no valid ARP entry can be seen, have you checked whether VLAN 20 is really available and forwarding on your vCMP host's uplinks?