So as noted on that basis, the max output you can achieve is 290W, the table is for battery voltage.
Secondly, the max input current limit is 20A, so the max number of those panel in parallel is 2 as they are 9.5A x 2 = 19.0A, right close to the limit.
I suggest fitting 2 of those panels in series, 360W running at about 38V and 9.5A. It is OK to have around 30% extra power.
for a 12v system, connect all three panels in series. the 290w max power is the units output power max.
it will only be able to use 290w of the potential 580w connected, this way you will ensure that you have a longer duration of max power available to the battery during sunlight hours.
even tough you have 580w available from PV the controller can only request 20 amps to the batery and nothing more, even if you have 5000w available at the input the controller can only request 20 amps or 290w.
current does not flow or get pushed, current can only be demanded(requested) from a source to a load.
you have 580w on the roof, the 100/20 can only request 290w for battery charging the remainder of the watts potentially “stay on you roof inside of your panels”