Here is any easy fix that a friend of mine found, hopefully it works for you guys. I’ve scoured the internet looking for a solution nothing worked until this method. I hope it helps you too. Let me know how it goes for you guys. Thanks to DobieGirl!
**If you loose connection once every couple hours or so that is normal, that is just Rockstar's poor server connection.
Easy Fix for Error Code: 0x20010006
Step 1: Turn Off Console.
Step 2: Start console in Safe Mode.
Step 3: Update System software. (Use internet)
Step 4: Reboot Console!
Step 5: Launch Red Dead Online! Enjoy!