Hi cls, welcome to the forum.
It will depend on your budget. I upgraded from a K-10D to a K-5IIs. Lots of new features, more megapixels, and better high ISO performance. Really better in all respects, except perhaps for the color rendering of the K-5's CMOS sensor vs. the K-10D's CCD sensor. It's a matter of personal taste. I do
love my K-5IIs, and they are readily available used at good prices. Of course, a K-3 would be a step up from the K-5. You can do a side-by-side comparison to your K-20D here:
Pentax K20D vs. Pentax K-3 vs. Pentax K-3 II - Pentax Camera Comparison - PentaxForums.com
Readily available used at good prices. Check out the Marketplace here on the forum, or forum partners Adorama Camera or B&H Photo.
Originally posted by cls I mainly shoot pets, dog sports, and a smattering of nature, birds, children, landscape. I value a camera setup that can handle low light and action very nicely.
For fast action like dog sports or scampering children and low light performance, you may want to consider the KP:
Pentax K20D vs. Pentax K-3 vs. Pentax KP - Pentax Camera Comparison - PentaxForums.com
High ISO performance is better than the K-3, allowing faster shutter speeds for action and better low light capture. The KP's on-board flash is anemic though at GN6 compared to the K-3's GN13.
I own an older Sigma 17-70mm DC Macro:
Sigma 17-70mm F2.8-4.5 DC Macro Lens Reviews - Sigma Lenses - Pentax Lens Review Database
I got it used from a forum member and have been very happy with it. Several shots in my albums here on PF were taken with it. I imagine the more current Contemporary model would be similar.
For overall best autofocus speed in the Pentax lineup, my understanding is that you can't beat the HD Pentax-DA 55-300mm F4.5-6.3 ED PLM WR RE:
HD Pentax-DA 55-300mm F4.5-6.3 ED PLM WR RE Reviews - DA Zoom Lenses - Pentax Lens Reviews & Lens Database
Others can correct me if I'm wrong, but I've seen this lens referred to as the fastest autofocus lens Pentax makes. Great for action shots.
The K-3 would be a big step up from your K20D; it was (is?) the flagship model in APSC format. Estimated shutter life of 200,000 clicks. I'm sure you would love it. The in-depth review of the KP here on the forum gives it a slight edge over the K-3 in image quality though, and the high ISO performance is apparently much better.
Originally posted by cls I also wonder if there is a market for my K1000 and some of the old lenses I do not use.
Probably yes. (I might be interested in your 300mm prime depending on which one it is.) If you have contributed financially to the forum you have access to the Marketplace
The Pentax Marketplace | Buy & Sell Pentax Cameras and Lenses - PentaxForums.com You can see what other people are listing and the prices they are asking.
No doubt several others will weigh in with their opinions. Lots of knowledgeable, helpful people here on PF!