  Radio galaxies host relativistic jets oriented away from our line of sight,
making them challenging targets for Very High Energy (VHE, E$>$100 GeV)
$\gamma$-ray detectors. Indeed, out of $\sim100$ extragalactic sources detected
at $E>100$ GeV, only six are radio galaxies. The new Cherenkov Telescope Array
(CTA) will provide order-of-magnitude improvements in sensitivity with respect
to the present generation of ground-based $\gamma$-ray observatories, opening
new frontiers for high-energy studies of radio galaxies. In a previous paper,
we studied the CTA detection prospects of misaligned jets from the Third
Fermi-LAT catalog (3FGL) sample. In this work, we take advantage of the
expanded sample from the Fourth Fermi-LAT catalog (4FGL), including roughly
double the number of sources. We simulate CTA observations of 41 $\gamma$-ray
radio galaxies, extrapolating their GeV spectrum into the TeV 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 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 this will be possible
for integration times $\gtrsim\!50$ hours. We conclude that the CTA will
significantly impact our understanding of misaligned jets at TeV energies,
allowing us to perform population studies and compare the two main radio galaxy
subclasses for the first time in this energy band.
