The approach I would suggest is a bit different.
First I would calculate the nominal concentration of HCl (i.e. the number of moles of HCl added, divided by the total volume of the solution after the addition, regardless of what happens to the resulting chloride ions and protons) in your initial solution, using all the necessary equations (with the approximation that activity equals concentation, although the figures are a bit large here).
1) dissociation constant of lidocaine:
$K_{a,lido}=\frac{[L] \cdot [H^+]}{[LH^+]}$
2) the total nominal concentration of lidocaine must be the sum of all its forms:
$C_{lido}= [L]+[LH^+]$
3) charge balance:
$[Cl^-] + [OH^-] = [H^+]+[LH^+]$
4) the total concentration of chloride is the same as the nominal concentration of HCl, as the dissociation is complete and $Cl^-$ does not react with anything else:
$C_{HCl}= [Cl^-]$
5) the ion product of water:
$K_w=[H^+] \cdot [OH^-]$
The system of these 5 equations can be solved for $C_{HCl}$, after eliminating all chemical species (except $[H^+]$, so in total 4 unknowns):
$C_{HCl}= [H^+] - \frac {K_w}{[H^+]} + \frac {C_{lido}}{1+ \frac {K_{lido}}{[H^+]}}$
Plugging in the numbers:
$C_{lido}=\frac {20 g/L}{234.34 g/mol} = 0.085346 M, K_{a,lido}=10^{-7.9} M, [H^+]=10^{-3.5} M, K_w = 10^{-14} M^2$
results in:
$C_{HCl}= 0.08566 M$
i.e. to reach a pH of 3.5 starting from freebase, we used just slighly more than the stoichiometric amount of $HCl$. Here we are assuming as well that the added volume of HCl has not changed the nominal concentration of lidocaine very much. If it has, then you need to account for that.
Now, when you add sodium bicarbonate, all the equations above except 3 are still applicable; you need to add the dissociation constants for carbonic acid (I'll consider it like hydrated $CO_2$, and that none of it is escaping as gas, to keep things simple) and hydrogenocarbonate, and the mass balances for sodium and the various carbonate species.
Here they are:
$K_{a,carbonic acid}=\frac{[HCO_3^-] \cdot [H^+]}{[H_2CO_3]}$
$K_{a,hydrogcarbonate}=\frac{[CO_3^{2-}] \cdot [H^+]}{[HCO_3^-]}$
$C_{bicarb}= [Na^+]$
$C_{bicarb}= [H_2CO_3] + [HCO_3^-] + [CO_3^{2-}]$
The charge balance now includes more ions:
$[Cl^-] + [OH^-] + [HCO_3^-] + 2 \cdot [CO_3^{2-}] = [Na^+]+[H^+]+[LH^+]$
We have now 9 equations (5-1+5). Like before, eliminating all chemical species except $[H^+]$ (i.e. 8 unknowns), gives a single expression. It is a bit complicated, but essentially it contains only $[H^+]$, $C_{bicarb}$ and $C_{HCl}$, and known constants.
In our case, as we know what the nominal concentration of $HCl$ is from the previous calculation, and the final pH we want to reach (7.2), we just need to solve for $C_{bicarb}$ and plug in the numbers:
$C_{lido}=\frac {20 g/L}{234.34 g/mol} = 0.085346 M, K_{a,lido}=10^{-7.9} M, [H^+]=10^{-7.2} M, C_{HCl}=0.08566 M, K_{a,carbonic acid}=4.3 \cdot 10^{-7}, K_{a,hydrogcarbonate}=5.6 \cdot 10^{-11} $
resulting in:
$C_{bicarb}=0.1142 M$
So for each litre of your initial solution you should add 0.1142 mol of $NaHCO_3$, which is 9.59 g.
This is closer to the 'official' quantity you mentioned (even quite a bit more in fact), although I have trouble following all the figures. Maybe they did this experimentally and found that some $CO_2$ escapes, making the pH rise without the need for more base. Just a hypothesis.
In a way, even without all these involved calculations, one could say: if you have a 0.085 M solution of lidocaine hydrochloride and want to react all the $HCl$ with sodium bicarbonate, use $0.085 mol/L \cdot 84 g/mol = 7.14 g/L$ of $NaHCO_3$. The excess used in your official method compared to this figure is probably due to the slight excess of $HCl$ in the initial solution, and the need to take the pH closer to the desired 'physiological' value you mentioned.
EDIT: addendum to answer further questions by the OP
The OP asked what would happen by adding more sodium bicarbonate.
The answer is: as long as there is no solid precipitate of sodium bicarbonate (and always assuming that lidocaine stays in solution), the above equations remain valid; as soon as the nominal concentration of sodium bicarbonate is sufficiently high for it to precipitate, new equations apply, where all the above equations still apply, except for a correction of the mass balances related to $C_{bicarb}$, in particular by adding the contribution of the solid:
$C_{bicarb}= [Na^+] + [NaHCO_3]_s$
$C_{bicarb}= [H_2CO_3] + [HCO_3^-] + [CO_3^{2-}] + [NaHCO_3]_s$
(where $[NaHCO_3]_s$ represents the solid salt expressed in the units of concentration, for homogeneity with the other terms).
And the equation for the solubility product of $NaHCO_3$ must be added:
$K_{s,bicarb}=[Na^+] \cdot [HCO_3^-]$
From the data table in this site it seems that $K_{s,bicarb}=10^{-0.55} M^2 = 0.2818 M^2$ (although from my own calculations based on a solubility of 96 g/L at 20°C it should be $1.277 M^2$, but OK, I will use the 'literature' value).
First, the limiting value of $C_{bicarb}$ after which residual solid bicarbonate is observed at equilibrium must be calculated.
This can be done by solving (numerically) the system of all 10 equations described above for all the chemical species plus $C_{bicarb}$, after setting $[NaHCO_3]_s=0$. The result is:
$[C_{bicarb}=0.5467 M, [Na^+]=0.5467 M, [HCO_3^-]=0.5155 M, [H^+]=2.504 \cdot 10^{-8} M, [H_2CO_3]=0.03002 M, [CO_3^{2-}]=0.00113 M, [Cl^-]=0.08566 M, [OH^-]=3.9936 \cdot 10^{-7} M, [LH^+]=0.0568 M, [L]=0.02855 M]$
meaning that this system is only valid for $C_{bicarb} > 0.5467 M$.
Then the system can be solved using any value of $C_{bicarb}$ greater than the above threshold, and, interestingly, it gives always the same values, except for $[NaHCO_3]_s$, that increases accounting for the undissolved salt.
$C_{bicarb}=0.7 M$
$[[NaHCO_3]_s=0.1533 M, [Na^+]=0.5467 M, [HCO_3^-]=0.5155 M, [H^+]=2.504 \cdot 10^{-8} M, [H_2CO_3]=0.03002 M, [CO_3^{2-}]=0.00113 M, [Cl^-]=0.08566 M, [OH^-]=3.9936 \cdot 10^{-7} M, [LH^+]=0.0568 M, [L]=0.02855 M]$
$C_{bicarb}=7 M$
$[[NaHCO_3]_s=6.453 M, [Na^+]=0.5467 M, [HCO_3^-]=0.5155 M, [H^+]=2.504 \cdot 10^{-8} M, [H_2CO_3]=0.03002 M, [CO_3^{2-}]=0.00113 M, [Cl^-]=0.08566 M, [OH^-]=3.9936 \cdot 10^{-7} M, [LH^+]=0.0568 M, [L]=0.02855 M]]$
$C_{bicarb}=70 M$
$[[NaHCO_3]_s=69.453 M, [Na^+]=0.5467 M, [HCO_3^-]=0.5155 M, [H^+]=2.504 \cdot 10^{-8} M, [H_2CO_3]=0.03002 M, [CO_3^{2-}]=0.00113 M, [Cl^-]=0.08566 M, [OH^-]=3.9936 \cdot 10^{-7} M, [LH^+]=0.0568 M, [L]=0.02855 M]]$
So it appears that, once solid sodium bicarbonate is present, the system is determined in a specific state, where all chemical species have a fixed concentration, regardless of how much solid there is.
In particular, the pH seems to be fixed at $7.60$. This is significantly lower than the pH of a saturated solution of $NaHCO_3$ ($8.31$) in water, probably because of the $H_2CO_3$ liberated in the reaction with $HCl$ (which, we are assuming, is remaining in solution).