Might sound like a daft question, but I'm just checking: was 'Super steady' definitely enabled? (Along with 'Video stabilisation' being enabled in Camera > Settings (cogwheel)?)
Pulled this from the US S20 User Manual:
Say "Hello!" to the Community in The Introduce Yourself Thread.
Same problem here, I need to get a Samsung fixing store to solve this because it is in a hundred percent a hardware problem, I tried everything related to software... Very very disappointed