Stock Android 10 device is offline for ADB commands on Linux, can't use USB Debugging
Solved by:

Deleting adbkey and adbkey.pub files from ~/.android/ directory on my Linux PC.
Using newer Android Debug Bridge (in my case, it's current 1.0.41/30.0.4 from here).

Also thanks to Robert for helpful comments.

Update 2020-12-29
Another solution could be in using ADB over Wi-Fi