You don't need to put 20% on a home. You can go FHA that only requires 3.5%. FHA is currently at the same rate as conventional mortgage, but you do have to pay MI of 1% (can be rolled into mortgage) upfront and 1.15% every month. The seller can pay up to 6% of the price towards non-recurring closing cost. That means you will need at least 1 years's real estate tax to set up the escrow and paying back the seller prepaid tax. You would also need 14 months homeowners' insurance (paid policy for 1 year and 2 months for escrow). Add to this is prepaid interest. Your mortgage officer can give you a breakdown of all the closing costs.
Your lawyer should be around $1,200, home inspection costs $450.
The answers below appear to be specific for your geographic area and the closing customs there. As you begin the pre-approval process for your financing, your loan officer will be able to give you a very good estimate of what charges will be related to the financing, as well as the total settlement. I created a short video about understanding and comparing closing costs and you can find the link below.
Best of luck,
Better to be prepared as much as you can be as there is always going to be a few surprises:)