The chart at KR's site is nice but incomplete and is misleadeing. For example, the N2000 is not listed and also, for example, the N90S is Not compatible with AF-S in the modes listed (P,M,A,S). It only works correctly in S and P. Since there is no other way to manipulate the aperture than to have the camera figure it out on its own in S or P on almost all AF-S lenses.
The N2020 is shown to work in M, P and A with AF-S, however the N2000 only works in P and Phi with AF-S.
One sometimes has to read more than one column on KR's chart. For example,
most AF-S lenses are also G lenses (no aperture ring). But not all! If you have one of the (expensive tele or zoom) AF-S lenses
with an aperture ring (not G), then you should be able to use it with an N90s in P,A,S,M mode, just like any other AF lens with an aperture ring. If the lens has no aperture ring, it will say "G" on it and you have to read the G column as well, to see the more restrictive set - works only in P and S with an N90s.
This is why I said that it isn't enough to just read the letters, one has to go by what mechanical feature the letters indicate. The difference between AF and AF-S is whether the focus motor is in the body, or the lens. The difference between regular and G is whether there is an aperture ring or not. So AF vs AF-S mostly affects what bodies focus with what lenses; while G vs not-G mostly affects what exposure modes will work, if any. It is a maze, but the maze is the price of maintaining mount semi-compatibility across 50 years.