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Im having the same restart issue on my S21 Ultra. I got it a couple of days back and the phone has restarted atleast 30-40 times right when its in my hand and a couple of times while I was on a whatsapp call. Tried clearing cache, uninstalled all the unnecessary apps. And it still restarts randomly. I think my phone has some hardware issues and I think I should return my phone.
does it only happen when you make a call on whatsapp?
what is your software version? settings - about - software info - baseband ver