how to access inside lan (192.168.10.20) from server in th DMZ (172.16.10.5)
I tried bellow but no luck
static (inside,dmz) 172.16.10.5 192.168.10.20 netmask 255.255.255.255
access-list dmz_access_in extended permit ip host 172.16.10.5 host 192.168.10.20
access-group dmz _access_in in interface dmz
Try a static like the following-
static (inside,dmz) 192.168.10.20 192.168.10.20 netmask 255.255.255.255
Everything else looks OK.
Hope that helps.