This feature has been a long one coming. No need to fumble around to get into Bixby Vision, Google Lens, or any other app other than your stock camera. You simply need to have QR Code scanning enabled within your camera settings. This was already enabled for me by default so I had no issues. Once you launch your camera app, you’re able to point at any QR code to obtain a clickable link at the lower portion of your viewfinder for an easy One UI style reach-ability.

Keep in mind that different regions, carriers, and devices receive updates and features at different times. June security updates are what started to add this feature into Samsung devices. Most devices should have them available by now if you update your phone every month.