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2021 Wireless charging pad - it randomly pauses at times

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I noticed while driving that my phone (Galaxy S10) screen will wake up with the notification "Wireless charging paused," as if it has suddenly lost connection to the charging pad, even though I'm driving in a straight line and not doing anything funny. This appears to happen with both wireless charging pads. Is this normal behaviour? Should I be removing the case on my phone? If it is normal behaviour, has anyone else figured out how to prevent the screen-wake-on-pause for Samsung so that my attention isn't constantly being drawn to my phone?