factory reset cause bootloop on new firmware, unless flashed back to old one

so I had the phone originally on stock,
later I flashed custom roms, after using non official firmware I had decided I am done with that.
so I flashed the Latest official release from Samsung, however.

doing factory reset cause my phone to go into boot loop, unless I flash the original software via odin.
doing factory reset on the old software, works fine.


I am suspecting that factory reset restore an image stored on the phone (which happen to be the old one).
how do I make sure that factory reset works on the latest release.

thanks