I was running Minikube 1.4 on my Mac w/ Kubectl 1.16 and couldn't get the default manifest to run from https://raw.githubusercontent.com/elastic/beats/7.3/deploy/kubernetes/filebeat-kubernetes.yaml using these docs. https://www.elastic.co/guide/en/beats/filebeat/current/running-on-kubernetes.html.
I installed Minikube 1.3 and Kubectl 1.15 and it works fine. There were a lot of API changes in Kubectl 1.16. https://kubernetes.io/blog/2019/07/18/api-deprecations-in-1-16/
I didn't go through them. But filebeat is up and running on Minikube 1.3 and Kubectl 1.15.