Download the Citrix Workspace 2006 tarball from here
Extract the file and go into the folder linuxx64-20.06.0.15
Open a terminal inside this folder not sure if you need to, but I use sudo su
and run everything as root and run script ./setupwfc
1 to install Citrix Workspace app for Linux 20.06.0
Enter the directory /opt/Citrix/ICAClient
y to proceed with installation screenshot so previous install, I upgraded from 20.04 to 20.06
y to us GStreamer support. USB support is your choice, I said yes, but it didn't work properly
3 to Quit
reboot
or sudo reboot
Launch Citrix and log in with your provided credentials
Select the appropriate desktop environment