Gesture navigation disappears

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I ran into a problem where the gesture navigation bar at the bottom disappears on the home screen or any other screen where it normally shows. When this happens, I can still swipe up from the bottom of the screen to see the buttons, but the back button doesn’t work. If I click in a text field, the keyboard doesn’t appear.

I’ve only seen this twice on my S20 FE, and I haven’t figured out if there’s something I did that caused it. The only way to fix it I can find is to restart the phone.

Has anyone else run into this? Any ideas on what might cause it and how to fix?

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