https://www.cloudfoundry.org/blog/cve-2020-15586/
I don’t see any evidence that anyone wrote an RCE exploit for this, but I also don’t see any evidence of anyone even trying to rule it out.
On first glance, it looks like the bug can (at least) result in the server accessing a slice object where the various fields don’t all come from the same place. So the target server can end up accessing some object out of bounds (or as the wrong type or both), which can easily end up writing some data (possibly attacker controlled) to an inappropriate place. In standard attack, the attacker might try to modify the stack or a function pointer to set up a ROP chain or something similar, which is close enough to arbitrarily code to eventually either corrupt something to directly escalate privileges or to do appropriate syscalls to actually execute code.
The line I'm not quite as sure about is https://go.googlesource.com/go/+/refs/tags/go1.13.1/src/bufi.... That assignment is to a variable of interface type, so in theory it could cause memory corruption if multiple goroutines executed it concurrently on the same receiver, which was possible until the bug was fixed. That said, I cannot immediately think of a way to exploit this; you can only write error values corresponding to errors that you can make occur while writing to the socket, and that's a much more constrained set of possible values than the arbitrary bytes that can occur in a buffer. And for that, you only get confusion among the types of those particular errors. It might be possible but it at least looks challenging.