When you scan a QR code using the Galaxy S23 camera, a pop up link will appear that needs to be clicked. If the pop-up link is closed, you will not be directed to QR code destination.
The system is built to recognise the user's preference to either capture an image or take a video of the QR code. This is designed so that the pop-up does not interfere with the recording.
What to do if the Galaxy QR code is not recognised
Tap on the QR code on the screen to display the QR code link.