I inherited an IRA from my father who lived in VA. I did not live in VA at any time in 2020. Do I need to file a VA non resident return for VA?

The IRA income has moved from VA to your State.

So the answer is NO.

No.  If you took a distribution or are receiving distributions from the IRA, they would be taxable in your state of residence.  Any estate or inheritance taxes associated with Fathers estate would be paid to Virginia.