SQL Server 2019

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DECLARE @t TABLE ( id INT, startdate DATE, enddate DATE , u_type VARCHAR(255))

INSERT  INTO @t
VALUES  ( 128193    ,'2020-05-01',  '2020-05-31','prepaid'),
         (134145    ,'2020-06-01',  '2020-06-30','prepaid'),
         (134145    ,'2020-05-01',  '2020-05-30','usage'),
         (141461    ,'2020-07-01',  '2020-07-31','prepaid'),
         (141461    ,'2020-06-01',  '2020-06-30','usage');

WITH CTE_PERIOD_RANGE
     AS (SELECT ID, 
                STARTDATE, 
                ENDDATE, 
                U_TYPE, 
                LEAD(STARTDATE, 1) OVER(PARTITION BY U_TYPE 
                  ORDER BY STARTDATE) AS NEXT_PERIOD_STARTDATE, 
                LEAD(ENDDATE, 1) OVER(PARTITION BY U_TYPE 
                  ORDER BY STARTDATE) AS NEXT_PERIOD_ENDDATE
         FROM @t)
     SELECT ID, 
            STARTDATE, 
            ENDDATE, 
            U_TYPE
     FROM CTE_PERIOD_RANGE
     WHERE STARTDATE <> NEXT_PERIOD_STARTDATE OR 
           ENDDATE <> NEXT_PERIOD_ENDDATE AND 
           NEXT_PERIOD_STARTDATE IS NOT NULL; 
           
-- For explanation - the cte will look like this:
SELECT ID, 
       STARTDATE, 
       ENDDATE, 
       U_TYPE, 
       LEAD(STARTDATE, 1) OVER(PARTITION BY U_TYPE 
         ORDER BY STARTDATE) AS NEXT_PERIOD_STARTDATE, 
       LEAD(ENDDATE, 1) OVER(PARTITION BY U_TYPE 
         ORDER BY STARTDATE) AS NEXT_PERIOD_ENDDATE
FROM @t

ID	STARTDATE	ENDDATE	U_TYPE
128193	2020-05-01	2020-05-31	prepaid
134145	2020-06-01	2020-06-30	prepaid
134145	2020-05-01	2020-05-30	usage

ID	STARTDATE	ENDDATE	U_TYPE	NEXT_PERIOD_STARTDATE	NEXT_PERIOD_ENDDATE
128193	2020-05-01	2020-05-31	prepaid	2020-06-01	2020-06-30
134145	2020-06-01	2020-06-30	prepaid	2020-07-01	2020-07-31
141461	2020-07-01	2020-07-31	prepaid	null	null
134145	2020-05-01	2020-05-30	usage	2020-06-01	2020-06-30
141461	2020-06-01	2020-06-30	usage	null	null