I've performed AF adjustment on multiple lenses for both my K20D and Canon 7D. The process was fairly similar, though the 7D was easier using this
approach. I'm sure it would be fine trying it with the K20D.
Most of my K-mount lenses did not require serious adjustment. The major culprits were the FA 50 f1.4, the Tamron 17-50mm f2.8 (which is notorious for FF and BF issues, be sure to do yours ASAP), and to a much lesser extent the DA* 50-135mm. The latter two I no longer own (see below).
I have fewer lenses in EOS mount as I have only added the 7D within the past six months. Interestingly the same Tamron lens did not require as significant adjustments in EOS mount as it did in K-mount. I don't attach much meaning to this.
The lens that did require notable adjustment is the Tokina 50-135mm which is a sister lens to the DA* 50-135mm. BTW, now that it is sharp consistently, I prefer the rendering of the Tokina over the DA* just a little more.
M