In February 2020, President Trump signed an accord with the Taliban to withdraw US combat troops from Afghanistan by May 2021. ~

keeping troops there and make zero progress wouldn't have helped either.
it's one of those situations where two or more nations need to double down and actually get serious about dealing with it. however that will take more commitment and moral ambiguity than many people are comfortable with these days.

Is it possible to end that shit? yes.
are people willing to actualy do the dirty to make it happen? no.

After 20 years, it was time to withdraw

Not unless he disagreed with the content of the Peace Accord, why renegotiate all over again and delay withdrawal even longer? The Generals and Analysts already had a plan in place, might not have been the best plan but at least it was a plan...

He did on everything else

He agreed with Trump on that.