As for me, I'm staying with 1201. Bios upgrades are for the most part, not necessary. Sure sometimes, but a mature platform, not so much. Once in a while maybe, but often you can go for years on a system with a mature bios version, and not upgrade the bios.
If you're on Catalina, and your system was stable on Mojave, I kind of doubt you will find it more stable with the 2002 bios, especially if you're on 10.15.0 of Catalina. 10.15.0 is just not very good, honestly. Think about it: two supplemental updates on the same version of code? When has that happened with macOS? Not very recently, that's for sure, if ever.
10.15.1, (which I'm on the beta 2 of) to me, well, it seems a lot better.
But no one know for sure, so for those of you who are trying to improve your system's stability, I hope 2002 works for you.