Some of the things available now for our gen are the exhaust gm sells that is supposed to add up to 10hp and 6lb of torque for the 5.3L engine.
2019 Sierra 1500 Crew or Extended Cab Performance Exhaust, 5.3L, Dual Rear, Quad Chrome Tips | 19419435 (shopchevyparts.com)
Another fun one that people are using lately is the pulsar LT inline control Module. With several features including adjusting the pedal sensitivity.
Pulsar LT for 19-20 GM Gas Trucks - Superchips
And last of course you could look into and air intake to pair up well with the exhaust above you can go with the GM intake:
2019 Sierra 1500 Air Intake, Performance, Cold Air, 5.3L Engine | 84789802 (shopchevyparts.com)
or with any other competitors. I personally have the Air Aid intake pipe with a drop in Air aid filter only because I found it on a very good deal at 4wheelparts.com plus they claim an additional 8.8hp and 13.1lb torque on the 6.2L so perhaps at least half of that on the 5.3L
AIR-200-782_dyno.pdf (kandn.com)