Try gently blowing into the charging slot while shuffling the phone a bit, sometimes extra Humidity in the air can cause this and doing the little "shake and blow" method can get it going for you again.
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Same thing happened to my Note 10 plus. After using Android Auto. As soon as I plug it in and it trys to auto launch the app it comes up with moisture error. I can usually get it to go away and it will charge wirelessly, but as soon as it plugs into the unit the error message comes. I think this happen after the last Samsung update?