It does seem a little bit high... but "two (large) coffees" comes in at $5.20 each and a large soda is $3.20 https://www.mac-menus.com/#McCafé-Coffees - that's not California prices though. Without additional costs (and how much more is it in CA) we're at $13.60 there. Add another $1 to each item for a guess of pricing and sales tax and round and you're at $20.
Life is indeed difficult if you’re on a tight budget yet still buying large coffees for $5.20 and somehow concluding you’re making frugal choices because “But it’s a cheaper option.”
If you’re in an airport or highway rest area, you might not have other/better choices, but if you’re on your home turf, I guarantee you can find a way cheaper option.
I can believe McDs offered to charge around $20 for 3 drinks. What I find harder to believe is the common case of people who accept that offer and then sip them while complaining about their budget.