I have the same problem. @AndrwL - I've looked in Settings as you suggest, but there's nowhere in there to agree to the T&Cs.
I've also searched the Samsung website - nothing in there to accept T&Cs either.
On my phone (Galaxy S10) when I get the notification, I click on it, it gives me a box that says T&Cs have been updated and I need to accept. Then when I press the OK it opens another page that immediately crashes before I have time to do anything with it. Then as the OP said, a few minutes later I get the notification again.