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blurry indoor photos of people.

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Any tips on how to take photos of people indoors ,sometimes outdoors , without a slight movement of an arm or leg making a blurred image in low indoor light ?
Tracking auto focus is on
Hdr is on. 
Pro mode too dark in low light .
This has been a problem with samsung cameras for a long time. 
It just needs to process with machine learning that bit longer but it doesn't and spits out a blurry arm ,face or leg , dog etc.
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