Question: Isn't the OP talking about the issue of protection of the motor leads from the drive to the motor? If so, aren't the Overloads providing this protection? If so, would think the discussion of Breaker ratings would be irrelevant, since I believe their only function in a motor circuit is SC/GF protection. So isn't the issue whether or not the code requirements of 240.4(D) apply in this case and require #10AWG because the overload protection is likely sized greater than 20A?
Does anyone know the genesis of 240.4(D)? The reason I ask is because, to me anyway, it seems counter-intuitive to establish what appears to be conservative requirements for protection in 240.4(D) and then in 240.4(G) say don't worry about motor circuit conductors and on top of that in 430 apparently say you can load that conductor up to 140% of nameplate FLA after sizing the conductors at 125% of table FLA, which seems to be the opposite of conservative.