A couple of tips I picked up when setting up the finger prints are.
When setting up take x3 scans with each thumb and then rotate the phone around when taking further prints of each thumb so your phone can read both thumbs from the same finger print scan. Scan your prints as you would normally hold the phone.
Also using two fingers when setting up one fingerprint works pretty well.
Go into Settings . Biometrics and Security. Biometrics Preferences . Turn Off Screen Transition Effect.
Then go into Settings and search for Optomise Battery Usage. Tap in Optimise Battey Usage tap to show All and scroll down to com.samsung.android.biom and toggle Off
For me this improved the fps on my Note 10+ 5G which I appreciate is a different model to yours but should be the same outcome- hopefully.
I also have dry skin on my fingers and so find it sometimes beneficial to moisten my fingertip before unlocking the phone.
🌈 Stay Safe & Stay Alert. 🌈
Current Phone ~
Samsung Note 20 Ultra 5G SM-9820 _256Gb SnapDragon 865+
Samsung One Ui 2.5/ Android 10.