This is a feature that I enjoy having on my LG phone that I would love to see on the S21 ultra especially since the focus can be a bit finicky to say the least.
On LG phones since I believe the g7 you have been able to manually focus in auto mode by just tapping to focus and right under the exposure slider a “MF” would appear you touch that and you’d be able to manually focus while not needing to leave the auto mode. One thing I would add to that is the ability to have focus peaking on while you’re dialling in the focus so you can tell what’s in focus better.
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