Have you tried 19.10 or 20.04? Before that I had a lot of issues with my Dell XPS 9560 because of optimus, but it got a lot better in those versions. YMMV but it actually worked out of the box with nary a hint of manual configuration when I installed 20.04 recently.
Edit: should note, when I say work I mean you can switch between GPUs/launch an app on the dedicated GPU with ease.
I've tried 19.10 and Arch Linux and the only option still was to statically choose only one GPU and reboot.
How does the offloading work now? I haven't heard anything about it
That is not true anymore. With 20.04 it supports hybrid graphics just fine. The only issue I had was sharing cuda and OpenGL context since GL ran on the Intel card. This should not be a concern for most people I assume.
Can you run everything on the iGPU and only activate the Nvidia GPU to do the render offloading on single apps? If you can, I should try 20.04 on a laptop
Edit: should note, when I say work I mean you can switch between GPUs/launch an app on the dedicated GPU with ease.