The Exynos-powered versions of the Galaxy S20 are about to get a firmware update, which should solve some reported autofocus problems.

Unfortunately, it looks like anyone whose phone uses a Snapdragon chip might have to wait a bit longer for a solution.
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https://www.trustedreviews.com/news/slow-autofocus-on-your-galaxy-s20-a-fix-is-coming-4017991