ok that i was expecting try with this version its a "hotfix" that jis give us how solution in wait as a update to this problem in the majority of Samsung's phones android 11+ :
Try to uninstall the current version of companion and install this. when you are going to try to connect on pc its gonna compare a popup says that is a old version or something like that and two button : "not now" or to "cancel" you should press "not now".
Test and let me know!