well..... since you say everything is up to date, and the mode settings are properly set up. seems like a Software related or maybe just an app issue.
Either way, I suggest recreating the issue (with the screen recording would be best) and submit an issue report to Samsung Members app. Reproduction of the issue allows the device to take a fresh log of phone's activity which should contain the cause of the camera's issue, which techs will need.
Hope you get a fix!!! 🙂 keep the thread updated in the case that others have same/similar issues, I'd like to know the fix if my phone does this as well.