Here are my notes to make a successful install of Impacket on Kali Linux version 2020. These were taken from tryhackme.com
Step by step commands to run in terminal:
sudo apt install python3-pip
sudo git clone https://github.com/SecureAuthCorp/impacket.git /opt/impacket
sudo pip3 install -r /opt/impacket/requirements.txt
sudo python3 ./setup.py install