you can cascade processors to get an additional 10ms of delay. i haven't seen any simple in-line active devices that give you delay. i thought i remembered a few amplifier manufacturers who made delay add-ons for some high end amps. maybe something like that could be modified and added?
is 20ms calculated based on cabin volume or is that a generic rule of thumb you use?
the idea behind rear fill, for me, is to give the effect of a room or larger space. similar to listening to speakers in a room where you get reflections that are filtered based on the absorption of the room. those reflections are delayed based on the size of the room and the distances involved. IMO rear fill shouldn't be full range, but filtered - bandpassed at least, since room reflections are also filtered. you could use absorption coefficients or equivalent octave band sabins of a properly acoustically treated room as your starting basis. as someone who designs acoustical treatments for performance spaces - i can tell you that the information is fairly easy to come across and just requires some math. i have developed software for creating auralizations of rooms/spaces, and also spreadsheets for easily calculating equivalent sabins based on area of materials. just finding all of the associated absorption coefficients requires the most time. the real trick is that a properly treated room has diffuse reflections - something that is tricky in a car.
the H701 gives 20ms in .05ms steps. maybe you use a different processor that meets your needs?