What’s with the floating icons that appear when I minimize running apps?

I can only assume that it is part of a recent update (Samsung S21 Android 12) but when I minimize or pause a running app, like a music player, maps, etc. a hovering icon for that appears on my home screen. If I reopen the app with that floating icon it opens up a foreground window for that app instead of running full screen. What setting controls this and how do I turn it off? It is incredibly annoying.

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