I'd be surprised that the SB6141 is still approved by your ISP. If you are still using the old modem, how old is the router? Also, the upload speed from 200Mbps service may be 5 or 10Mbps, which could bottle neck your activities.
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Do you have any computer with a wire that you could connect directly to the modem and do the zoom calls to see if the same thing happens? Essentially we're tying to remove things to try figure out what might be causing the issue.
200mbps is your download speed, what is your upload speed? (zoom needs upload too).
Usually the modem.
Look up if your modem has the puma chip, if so it's Definitely the modem.
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