After googling this problem, it appears (as of 7 YEARS ago) that the only way to allow users to connect to new WiFi networks is to modify PolKit (solution 1, solution 2).
Is this still the case with Ubuntu 20.04, without having to install further packages? Hard to believe that Ubuntu hasn't made this more user-friendly yet over the last 7 years.
Edit: What I'm wanting to do is allow standard users to simply connect to any WiFi network (new or known) without having to enter the root password. That's it. Currently, my Ubuntu desktop requires standard users to type in the root password in order to connect to a new WiFi network. That seems a little silly since Windows and Mac allows standard users to connect to whatever WiFi network they want with admin privileges.