in magento 2.3.1 below code is work
<field id="file_upload" translate="label" type="Magento\Config\Block\System\Config\Form\Field\File" sortOrder="10" showInDefault="1" showInWebsite="1" showInStore="1">
<label>Upload File</label>
<backend_model>Magento\Config\Model\Config\Backend\File</backend_model>
<upload_dir config="system" scope_info="1">customUpload</upload_dir>
</field>
but in Magento 2.3.3 this not working it give error
Invalid parameter given. A valid $fileId[tmp_name] is expected.