Summary: David tells the prophet Nathan that he thinking about building a house for God. God sends Nathan back with a message that he, Yahweh, has not asked for anything besides the tabernacle. Also, Yahweh is going to establish David’s line in the kingdom forever. Read from the World English Bible.
Below is a simple answer to the question: How long was the ark of the covenant at Abinadab’s house? Their summary makes it all quite clear.
“The Bible never says they moved the ark after 20 years, just that it had been there for 20 years by the time that Samuel spoke to Israel in verse 3 (I Samuel 7:3). It was there for over 40 years.”
I read from the 2016 edition, linked to by the image below:
There is also a 2019 edition: