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We present observations of a peculiar hydrogen- and helium-poor stripped-envelope (SE) supernova (SN) 2020wnt, primarily in the optical and near-infrared (near-IR). Its peak absolute bolometric magnitude of -20.9 mag and a rise time of 69~days are reminiscent of hydrogen-poor superluminous SNe (SLSNe~I), luminous transients potentially powered by spinning-down magnetars. Before the main peak, there is a brief peak lasting <10 days post-explosion, likely caused by interaction with circumstellar medium (CSM) ejected ~years before the SN explosion. The optical spectra near peak lack a hot continuum and OII absorptions, which are signs of heating from a central engine; they quantitatively resemble those of radioactivity-powered H/He-poor Type Ic SESNe. At ~1 year after peak, nebular spectra reveal a blue pseudo-continuum and narrow OI recombination lines associated with magnetar heating. Radio observations rule out strong CSM interactions as the dominant energy source at +266 days post peak. Near-IR observations at +200-300 day reveal carbon monoxide and dust formation, which causes a dramatic optical light curve dip. Pair-instability explosion models predict slow light curve and spectral features incompatible with observations. SN 2020wnt is best explained as a magnetar-powered core-collapse explosion of a 28 Msun pre-SN star. The explosion kinetic energy is significantly larger than the magnetar energy at peak, effectively concealing the magnetar-heated inner ejecta until well after peak. SN 2020wnt falls into a continuum between normal SNe Ic and SLSNe I and demonstrates that optical spectra at peak alone cannot rule out the presence of a central engine.