You can try clearing the cache of the camera app. https://www.samsung.com/us/support/answer/ANS00077611/ Be sure to report the issue through the One UI app.
@Unnam3d Where are you located? Android 10 is still in Beta in the U.S.
I'm on official non beta of Android 10 in Germany and I have the exact same issue. It keeps asking for turning on voice control, it's really annoying to close the window everytime I start the camera app.
Go to Settings -> Accessibility-> Installed Services, and turn off Installed services one at a time. Check if the prompt disappears. For me, it was the "Select to speak" service that caused it. For others, Holey Light.