The way I understand your situation is as follows:
There is effectively no link between the maintenance work and the new development.
The amount of maintenance is relatively small. (you say <=20%)
Of course you can schedule the work as part of the scrum, but that would create an artificial deadline for the maintenance work. Also, the maintenance is only relevant for a part of the team. So in your case, I would keep it out of the scrum planning. You can correct the availability of your team for the estimated amount of maintenance work, just like you would do if your team members have other tasks, or are on vacation or whatever.
This is of course important when you want to accurately predict your team's productivity.