@Mattthelegend2020: I always find that it's really difficult to get clear photos in low light conditions without a tripod, and the focus point can really make a difference. The last image seems to be the best quality, though. Can you describe what mode you were in, and any adjustments you made to make it clearer than the others?
I am having the same issue on the Note 20 ultra and my wife has the same issue on the S21. I got an update then my camera is terrible. Maybe Samsung wants us to buy a phone soon? Did you get any solutions to this?
Clearing the camera app's data and cache in the System -> App section plus resetting the camera settings in the Camera app itself helped me get my Note20 Ultra's unsavoury blurry mode back to normal clear n crisp mode thankfully. Hope it works out for yous!