In short, yes, absolutely. but it will depend on the user. In my opinion, battery life is much better with excellent SoT even at 120hz ( I use FHD+ ) and will continue to improve with updates, as always, camera has definitely improved, in particular with zoom and focus, the general feel of the phone has improved, efficiency slightly improved but still drains a couple of percent overnight. And for me, but doesn't matter to many, the look/design is much better. I use S21 Ultra - exynos UK, and I only came from an S20 Ultra.
- If you mean the S20 and S21 model in particular, I don't know for sure, but the one individual I know using S21 is absolutely loving it.