No convincing evidence of voting fraud, in the usual sense of votes being cast by ineligible voters, multiple votes being cast by the same person or ballots (whether paper or electronic) of unknown provenance being counted, on a sufficient scale to have tipped the 2020 election from Trump to Biden was ever presented either in a formal court or in the court of public opinion.
However, many states conducted their selection of electors in a manner other than the prescribed by their state legislature, which has the sole power under the Constitution to determine the manner of selection of electors, on the plea (made by Democrats) that the pandemic required more and easier mail-in voting, drop boxes and the like (details varying from state to state). That should have been the one thing Trump's litigation team brought before the courts, not unproven stories about Dominion voting machines or early morning boxes of ballots. Moreover, social media companies acting at the behest of the security apparatus, censored a story (the prima facia evidence of corruption on the part of Biden found in his son's laptop) that could have tipped the election to Trump. No, it was not fifty former intelligence official who wrote the letter claiming it "had all the hallmarks of Russian disinformation", it was forty-eight former intelligence officals and two still on the CIA payroll. (And who knows who's really a former intelligence official, who else is still on the payroll out of the black budget.)
At some point if the republic endures and honest historians write the account of these past few years 2020 will get an asterisk like 1876, as having been marred by irregularities.