After going through a warranty claim or two I found the problem with my blurry camera on the s10.
The phone case I purchased from my provider (expensive but not a Samsung case) has a magnet right behind the camera to hold the case closed.
This magnet interfered with the image stabilization and prevented my phone from focusing correctly.
In retrospect, I wish the Samsung techs would have realized this prior to sending my phone away for repairs. I have since emailed Samsung to let them know to tell their techs to take the phone out of the cases when testing. The case can help you solve the case :)
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