Android 12 is already out and has been more than a week since its been out. You have to have an S21 series (possibly unlocked version) to receive the update. I am already on android 12.
Last year the s20 received the update early as it was Samsung's latest smartphone at the time. Now its the S21 series. So possibly you could receive the update towards the end of the year and/or early January. Would advise you to check the official Samsung Web page for more information