Hi @Milobela in addition to checking distance, speed on motion and lighting advisable to also to check if you still have problems that you have the latest updates , force close the camera and clear the camera's cache and Data. You may need to clear the cache partition via the following steps:
For more information see following article (Refers to S20 series but applicable for Note) https://www.getdroidtips.com/fix-blurry-camera-or-not-focusing-quickly-on-galaxy-s20 Series
I do not work for Samsung or make Samsung Products but provide independent advice and valuable contributions.
My Device- S21 Ultra 5G ( SM-998B/DS ) CSC= BTU , 12GB/256GB
One Ui 4.0,Android 12 Official Version.