So I noticed the patch notes don't classify armadillos as experimental, but this is a snapshot for 1.20.5, not 1.21. I decided to get to the bottom of this, so I created a new world with no experiments, and somehow I could place armadillos in non-experimental worlds!
UPDATE: Huh, so apparently armadillos are getting released early in 1.20.5. That's strange.