As of the 2020 census, Minerva had a population of 3,684. The median age was 41.6 years. 22.1% of residents were under the age of 18 and 21.0% of residents were 65 years of age or older. For every 100 females there were 91.6 males, and for every 100 females age 18 and over there were 90.9 males age 18 and over.

0.0% of residents lived in urban areas, while 100.0% lived in rural areas.

There were 1,601 households in Minerva, of which 28.0% had children under the age of 18 living

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