Radio galaxies host relativistic jets oriented away from our line of sight, making them challenging targets for Very High Energy (VHE, E>100 GeV) γ-ray detectors. Indeed, out of ∼ 100 extragalactic sources detected at E > 100 GeV, only six are radio galaxies, while the great majority are blazars hosting aligned jets. The new Cherenkov Telescope Array (CTA) will provide order-of-magnitude improvements in sensitivity and spectral resolution with respect to the present generation of ground-based γ-ray observatories, opening new frontiers for high-energy studies of radio galaxies. In a previous paper, we studied the detection prospects of misaligned jets with the CTA for a sample of sources from the Third Fermi-LAT catalog (3FGL). In this work, we complement this study taking advantage of the expanded sample from the Fourth Fermi-LAT catalog (4FGL), which includes roughly double the number of sources. We simulate CTA observations of 41 γ-ray radio galaxies, extrapolating their Fermi-LAT spectrum into the TeV energy range assuming different spectral shapes. We predict that the CTA will detect eleven new TeV radio galaxies with an observational campaign of 50 hours per source, under the realistic assumption of a spectral cutoff at 0.5 TeV. This would increase the sample of VHE radio galaxies by a factor of three, and result in the first detection of FR II radio galaxies at these energies. By simulating CTA observations with 5 hours exposure, we predict that two Fermi-LAT radio galaxies should already be well within reach of current TeV observatories. Finally we have investigated the prospects for a CTA detection of extended VHE emission from the lobe-dominated FR I Fornax A, and predict that such a detection will be possible for integration times 50 hours. We conclude that, in line with our previous findings, the CTA will significantly impact our understanding of misaligned jets at TeV energies, allowing us to perform population studies, as well as a comparison between the two main radio galaxy subclasses for the first time in this energy band.