There has been some discussion today before the Bitcoin Core PR review club session on the subject of Tor v3 support. I haven't been through the above answers to comment on whether any of it needs updating.
But Jon Atack pointed out on IRC some good additional resources on getting started with Tor. There is the Bitcoin wiki and the Bitcoin Core documentation.
He also explained how you can build and run a Tor v3 service using this draft PR 19954 (draft at the time of the writing, September 2020).
If you have Tor configured and running, Bitcoin will automatically create a Tor service even with the default settings. You can get debug.log info on your Tor status by setting debug=tor in your bitcoin.conf file or by launching bitcoind -debug=tor
You can observe your node with:
MacOS
./src/bitcoin-cli -netinfo 4
Linux
watch ./src/bitcoin-cli -netinfo 4