Madonna did have a total hip replacement in late 2020.
Madonna had publicly confirmed that she had underwent hip replacement surgery in late 2020, during a Paramount+ Q&A special, Madame X presents: Madame Xtra Q&A where she had also referred to herself jokingly as a "bionic woman" due to the medical hardware that was put in place.
Madonna had hip replacement surgery because she had suffered a severe hip injury and missing cartilage during her highly demanding Madame X tour in 2019.
The immense pain also forced Madonna to cancel 14 North American and European tour dates.
And following the regenerative treatments that failed to fully resolve the issue, she had the hip replacement operation toward the end of 2020.
In December of 2020, Madonna also shared a mirror selfie on her Instagram Story showcasing her surgical scar and adding the hashtags of #recovery and #beautifulscar.
Following her intense physical rehabilitation and foam rolling, Madonna fully bounced back to launch her massive Celebration Tour and proved her "bionic" status to her fans worldwide.