I had that problem as well when I had the S20+ No matter what I did it was always blurry. If you're trying to take a picture up close try moving slower to the object. The 'auto focus' might be delayed a bit. You can also turn off the 'optimizer' which tends to mess up pictures really bad. I don't quite remember if the S20+ or Ultra has that function. Sorry I'm not much help, good luck!
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