Out of curiosity, I have just tested the described behavior briefly with slightly different results.
Since I don't have Whatsapp or Instagram, I tested the following apps:
1.) GoogleCamera
2.) Signal
3.) Threema
I set the camera access of all apps to "ask every time".
As expected, the query dialog "while using app/only this time/don't allow" opens for all tested apps the first time they are accessed.
When the camera is subsequently opened, the camera is immediately accessed without a dialog as described by @Fhjgdfjj
Note: After some time, the query dialog appears again in GoogleCamera (as if a timer had been set for the dialog); in the messengers, i still had access to the camera without a dialog.
"End session" (I tested it in a second profile) leads to the same behavior: Dialog in GoogleCamera and direct access to the camera in the messengers.
The situation is different for me when restarting: This leads to the dialog appearing again for all three apps tested.