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If you have swipe gestures enabled swipe left or right on the cover screen and you'll see the results of the Google Assistant after you speak.
In your Display settings, if you go to navigation bar you can enable swipe gestures and if you click more options you can enable swipe from sides and bottom. It may take a little time to get used to but it can solve this issue on the cover screen.
Either google or samsung. Is this not a platform to report such bugs or errors?
Hopefully someone can see this issue and it can be passed on so it can be addressed. It is quite annoying. However, if you use Bixby, it actually works.