In most cases this warning goes after a relatively short space of time.
It might be worth just checking inside the port with a torch.
If a soft reboot by turning your phone Off and On does not help then a Samsung Service Centre or if applicable in your region a Doorstep Repair Service hopefully should resolve this issue for you.
I wouldn't suggest to use an unauthorised engineer to look at this as that could invalidate your limited 2 Year Manufacturing Warranty.
I wish you all the best with this.
Current Phone > Samsung Z Fold³ 5G.