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I tested them again today after installing the latest S10+ software update this past week, and they seem to work now. I walked the same route as before with my phone in my pocket with no audio issues.
If anyone hasn't downloaded the latest S10+ update yet, try that. I also saw there is an update available for the buds too.
I'm having this problem but it is with my Samsung s8. Everytime I get put of the car or walk and start to but my phone in my pocket. The audio cuts off and i dont know why. All the software has been updated. Is there a fix for this instead of resetting the headphones?