Hi _umar_, we request you to register an Error Report from the Samsung Members app by attaching the system logs.
Open the Samsung Members app>> Menu >> Support >> Send feedback >> Error Report >> Send system log file.
With these logs, our team could analyze the performance and errors on the device and if there is anything related to the Samsung update that you have installed recently, we would push a fix through an update.
You could try Resetting the Camera's settings.
I'm not sure exactly what you feel is so terrible about the photo you posted?
Don't know. The pictures from my S20 Ultra are more than adequate for my purposes.
You can try a Factory Reset, but I don't think that will fix it, if it's not a software issue.
You could open the Samsung Members app, Click on Support & Diagnostics, View Tests & run the Diagnostics for the Sensors & Camera. See if you get any error messages.
I'm guessing that you obviously removed the plastic film from the camera lenses & the sensors? (stranger things have happened).