the S20 range of devices has a terrible focus issue.
I'm on the S20+ and when on 3:4 64mp it cannot focus on a static item, that is well lit while the phone is on a tripod.
previously, it was like that with all modes, but after making numerous reports, they're slowly "fixing " my issues. 3:4 64mp is still terrible and as it stands the s9 camera i had was way beter.
Report it to Samsung using the chat system in this app.
They will tell you to take it to a service centre, but don't let them fob you off with that.
highlight that EVERY S20 series user has focus issues with their device and unless a service centre will rewrite and flash new Firmware/software it is a pointless trip