After you upgrade to iOS 14.3 ... go into Settings on your phone and from the General menu search for the word ‘Code’ at the top. You will then see the option to ‘Scan QR Codes’ and select that option.
A new window will pop-up: the second option down will say ‘Scan QR Codes’ and to the right will be a toggle option/switch. Swipe to the right (it turns green) and the QR function will now work from your camera. No need to restart your device.
Hope this helps!