I get a maximum of 3 to 5 hours SoT regardless of usage or settings on my s21 Ultra but Samsung has declared it faulty , my processing power is far below what it should be and the battery drain shouldn't be as terrible as it is.
this however carries on in slightly varying experiences to my other 2 devices in the house , all 3 the S21 Ultra Exynos 512/16 models.
all 3 being replaced :s
on a side note, compared benchmarks to other users of the same device and 2 of mine are showing significant drops in both single core and multi core performance even under the most ideal of conditions.
if you have received the newest updates and depending on your model, with light to medium use you should it through a full day to a day and a half on average according to most sources.
you say 6 hours SoT but what kind of settings and usage? playing games? videos? varied mix?
if you're running QHD, 120hz, full power performance and brightness on auto for an example, id say you got a good amount of SoT regardless of model.
in reviews and tests the S21 Exynoss model still gets about 12hrs video playback continuously , I have tried to replicate that and have a dead phone in a maximum of 5hrs on YouTube with medium to high power saving settings and brightness at 30%