How can I redirect on checkout cart page once I click on Minicart instead of toggle.
on Magento ver. 2.3.4, that option is placed in:
Admin -> Stores -> Configuration -> Sales -> Checkout -> Mini Cart (tab) -> Display Mini Cart : No
It is related to that function - getIsNeedToDisplaySideBar(), part of that file module-checkout\view\frontend\templates\cart\minicart.phtml
And your minicart should redirect to -> getShoppingCartUrl()
Hope it helps for people with newer versions.