After a quick look I'd say in 2077, but it is likely they had another name in 2020

So they are added in cyberpunk 2020 at first? Also, would you mind telling me what they’re called in cyberpunk 2020

I wasn't able to find any mention, but basically a Joy Toy would be the same as a sexual worker, which have always been present in Cyberpunk. My guess is that they preferred a more neutral term and invented the word Joy Toy for CP2077. But I can't say for sure. You could try asking in CDPR's Cyberpunk official discord: https://discord.com/invite/cyberpunkgame

Cyberpunk 2077 was the first, they never mentioned them before.

Thanks both of ya for replying