You should be able to get a decent 20x30 from a 6MP file, but there are a lot of variables along the path.
Some of them rest with the Costco printer. Are you going to be printing at a local one, another one that is nearer your son's employer's place, or their online service?
It's an important question to answer because they may utilize different printers at each location.
Once you make that decision, then go to
Dry Creek, read the how-to, and download the profile for the Costco printer of your choice.
You can use that profile to soft-proof your image file in either Lightroom or Photoshop.
I would also check on the file size requirements for the Costco. They may have limitations.
Regarding upresizing your image, again check with Costco. They may prefer to let their printer's software handle it. This works for a lot of customers, especially since you are not having a custom lab handle the printing. Printer driver resizing software has gotten quite good during the past few years.
If you do choose to up-size your image, the testing I trust plus my own experience tells me that the inherent tools in current Lightroom and Photoshop versions work just fine. Third party tools were more popular ten years ago, but I think some of them can even do worse work than what I favor today.
Run a cheap test with Costco.
The ultimate is to develop a good working relationship with a professional printer at a custom lab who will use proven techniques--but these costs can be exponentially greater than Costco--and it doesn't sound like your son's employer is seeking out collectable fine art, though I'm sure your images could go that way.
M