At 20, if development is similar to that of a child, is it considered late maturation?

Patient's question:

I am already 20 years old this year, but my voice is no different from that of a 10-year-old child. I don't have underarm hair, and my pubic hair started growing at the age of 15, but it is still extremely sparse. My penis is only 2 cm long, and my testicles are also very small, but I can still ejaculate.
Could this be late puberty, "cryptorchidism," or some other reason?

Doctor's answer:

You should pay attention to exercising your body now, such as playing basketball or swimming, and pay attention to nutrition, maintain good physiological hygiene habits, and continue to grow taller. Premature puberty has always troubled parents. When treating this disease, consider adopting general treatment. Parents can only help children recover from the disease as soon as possible by using the correct methods, so as not to affect their growth and development. Therefore, parents must pay attention to their children's condition and take them to see a doctor for treatment in a timely manner.