I have an RV20 setup up in Google home, I can see it in the home app however saying "ask tapo to vacuum the lounge" results in Google saying "sorry it looks like this device hasn't been set up yet". 

I can ask where the vacuum is and that works so it's definitely connected with Google OK. 

Maybe the map isn't syncing with Google? 

I've disconnected tapo with Google and reconnected it multiple times as well as told google to sync all devices to no avail. 

I have google set to English - Australia and this works fine for other tapo devices (smart plugs)