sounds like the same issue the S20 ultra suffers from. a focus problem. I can't get close to anything on my note 20 ultra as it blurs so I stand from a distance and zoom because of the large sensor. I find in your situation I have to wait for the camera to switch for a couple of seconds as it seems it can't decide which camera to use.
no it won't sadly. this is well known and the most complained Bout problem with the s20 ultra. thats why the note 20 ultra has laser auto focus to fix the issues from the S20 ultra as they are the same camera