That was the original plan with an announced date of October 2021. The pandemic changed the distribution methodology and planning, of course. I'm sure they could still make a small fortune by doing a future theatrical release. Earlier reports said it would only be available on Disney+ streaming in 2020. The original plans were October 2021 movie release with DVD/Blu-ray in 2022. Both could still happen assuming movie theaters are open by then.
I’m expecting it to make several return appearances to Disney Plus, so they can grab new subscribers. Disney used to do that with their VHS and DVDs of their old films—make them available for a limited time, pull then, then bring them back.