1. Concat a delay
Concatenate an empty delay to each item, that doesn't emit anything and only completes after a given time.
const { EMTPY, of, concat } = Rx;
const { concatMap, delay } = RxOperators;
event$.pipe(
concatMap(item => concat(of(item), EMPTY.pipe(delay(20))))
);

2. ConcatMap to a timer
Map every item to a timer that starts with the given item and completes after a given amount of time. The next item will be emitted when the timer completes. Values emitted by the timer itself are ignored.
const { timer } = Rx;
const { concatMap, ignoreElements, startWith } = RxOperators;
event$.pipe(
concatMap(item => timer(20).pipe(ignoreElements(), startWith(item)))
);
3. Zip with an interval (not optimal)
If your event stream emits items faster than the desired delay you could use zip to emit events when an interval emits.
const { interval, zip } = Rx;
const { map } = RxOperators;
zip(event$, interval(20)).pipe(map(([item, i]) => item));
This method won't guarantee n seconds between every emitted item in all circumstances, e.g. when there is a gap larger than the desired delay followed by a small gap in the event stream.
E.g zip works in your example with emits at 20, 30, 50, 60 with min delay 20.
zip won't work perfectly with emits at 20, 30, 65, 70 with min delay 20.
When the interval emits faster than events are coming in, those interval items will just pile up inside zip. If this is the case zip will immediately zip any new event with an already present interval item from its stack causing events to be emitted without the intended delay.