Problem was solved by downgrading to version 3.2.3 and re-allowing input access, see Keyboard psychtoolbox/hid failing with Mac OS Catalina update
Not sure what happened between 3.2.3 and 3.2.4 which causes the problem, but would obviously be great to see support for Catalina in figure versions 
EDIT: This solution Keyboard psychtoolbox/hid failing with Mac OS Catalina update allowed me to use 3.2.4 under OS Catalina