Let \( P(x_1, y_1) \) and \( Q(x_2, y_2) \) be points on the parabola \( y^2 = 12x \). Given that \( (4, 1) \) is the midpoint of \( PQ \), the following relationships hold:
\[ \frac{x_1 + x_2}{2} = 4 \implies x_1 + x_2 = 8, \] \[ \frac{y_1 + y_2}{2} = 1 \implies y_1 + y_2 = 2. \]
Since \( P \) and \( Q \) are on the parabola \( y^2 = 12x \), their coordinates satisfy the equation:
\[ y_1^2 = 12x_1 \quad \text{and} \quad y_2^2 = 12x_2. \]
The equation of a chord of a parabola with a specified midpoint is given by:
\[ y(y_1 + y_2) = 2x + x_1 + x_2. \]
Substituting \( y_1 + y_2 = 2 \) and \( x_1 + x_2 = 8 \) into this equation yields:
\[ y \cdot 2 = 2x + 8, \] \[ \implies y = x - 4. \]
We now test each provided option to determine which point satisfies the derived equation \( y = x - 4 \).
Therefore, the point \( \left(\frac{1}{2}, -20\right) \) lies on the line connecting points \( P \) and \( Q \).