Imo, yes, 20 gal would suffice for 4 emps. A general guideline would be 3-5 gallon per specimen. A re-arrangement of the tank's deco would help to reduce the chance of territorial conflicts when you introduce the new ones in.
Quarantine wise, i do not do that to newly bought scorpions.
The only time i do it was probably due to a detection of mites on the scorpion itself and i did it before i shift the scorpion to the newly setup tank.