The Falcon and the Winter Soldier episode 5, "Truth," has Bucky and Sam reclaiming the shield from Walker, following on from his murder of the Flag-Smasher, Nico. After defeating Walker, Bucky leaves the shield by Sam's side.

Do they get the shield back?

Unlike Thor's hammer, anyone can pick up Captain America's shield. ... On the other hand, when Hawkeye and Black Widow pick the shield up after it's discarded in battle, they both use it as a weapon before giving it back to Steve. Steve and Bucky, once allies again, even tag team Iron Man with its use.

Why did Sam get the shield and not Bucky?

That's probably why Steve chose to give the Captain America shield and title to Sam instead of Bucky. It wasn't because Steve believed Bucky's reputation and past made him unfit to hold the shield, but because he wanted to save his friend from the pressure of having to deal with being Captain America.