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By default, the Samsung keyboard automatically capitalises the first few letters of each sentence, but you can also disable "Auto capitalise" in the Samsung keyboard settings.

Android 11 | One UI 3.0
Step 1: Tap on  Settings
Step 2: Tap on  General management
Step 3: Tap on  Samsung Keyboard settings
Step 4: Tap on  More typing options
Step 5: Enable or disable  Auto capitalize
  1. Tap on Settings
  2. Tap on General management
  3. Tap on Samsung Keyboard settings
  4. Tap on More typing options
  5. Enable or disable Auto capitalize
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Samsung Instructions