I don't know much about the change in tech between the note 10+ fingerprint scanner and the one in the s20's. But I JUST purchased my phone and found that glass screen protectors (regardless of their claims to be compatible) are a no go. Once I applied a good (non glass) shield, perfection every time. I'm coming from an iPhone so I'm spoiled by face recognition on EVERYTHING. But it's not so bad now that I figured out my mistake. Don't know if you're using a screen protector, but if you are, I hope this helps.
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