The best replacement for s21 is sony cx550.

The best alternatives to s21 are rated as following:
★★★★★  sony cx550
★★★★★  s12
★★★★  panasonic tm700
★★★  tm700
★★  b21
★  hv40
★  s30
★  cx550v
  vixia hf s20

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s21
sony cx550
s12