What else is important to you in a phone? Samsung phones usually have a lot more featiures, but this is at the expense of having a lot of bloatware that you might not necessarily want. Pixels lack any bloatware.
Cameras are pretty comparable, but I've always favored the Pixel camera software.
Pixels have the best and longest all around support (in terms of security updates and version upgrades), but Samsung has made great strides with their flagship phones in this area. That being said, the Note20 Ultra was released in late 2020, and Samsung only offers support for up to 4 years, which means it will probably reach the end of its support life in late 2024. The Pixel 6 Pro was released in late 2021, and Google guarantees 5 years of monthly security updates (and 3 OS version upgrades), so it will reach its support end of life in late 2026.