As of July 9, 2019, the citizenship question is not on the 2020 Census form and is not being asked. It is part of the ongoing American Community Survey. Which is a sample survey that is also conducted by the Census Bureau and is annually asked of approximately 1 out of 6 households. The question is: “Is this person a citizen of the United States?” It includes five responses: yes; yes, born in the island territories; yes, born of US parents abroad; yes, by naturalization; and no, not a US citizen.
It does not ask about immigration or visitor status.