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Thank you all sorted👍I don't know whether this is a Samsung brainwave or an Android one, but the only way to do this is to pull the notification slide right down until you get a set of "quick settings" tiles and look for one that says "portrait" (or "landscape" if you have it in that mode). Tap that and it changes to "auto rotate".
Why they didn't put the option in Settings as well (so that search could find it), or label the quick setting button "Auto rotate" whether it is on or off to make it more obvious what it does, I do not know. I don't really believe that either Samsung or Google do usability testing when making changes (whatever they would claim if asked).