You've probably come across this: https://support.google.com/youtube/answer/7126552#zippy=%2Cupload-requirements which leads to https://mkvtoolnix.download/doc/mkvmerge.html
The command to run from Windows cmd looks like this: >mkvmerge.exe input_video_s21_HDR10_plus.mp4 --colour-matrix -1:9 --colour-transfer-characteristics -1:16 --colour-primaries -1:9 -o out.mp4
That should encode the correct HDR Metadata.
The S21 appears to use H.265 encoding for HDR10+ video while youtube requires H.264 So the final step (or might need to do it as a first step?) is to convert from H.265 to H.264. I used "Handbrake.fr" tool for this task, but I suppose there are many others. Be sure to select the H.264 output format and that it is 10bit
Then upload the video to youtube.