This article presents a search for new resonances decaying into a $Z$ or $W$ boson and a $125$ GeV Higgs boson $h$, and it targets the $\nu\bar{\nu}b\bar{b}$, $\ell^+\ell^-b\bar{b}$, or $\ell^{\pm}{\nu}b\bar{b}$ final states, where $\ell=e$ or $\mu$, in proton-proton collisions at $\sqrt{s}=$13 TeV. The data used correspond to a total integrated luminosity of 139 fb$^{-1}$ collected by the ATLAS detector during Run 2 of the LHC at CERN. The search is conducted by examining the reconstructed invariant or transverse mass distributions of $Z$h or $Wh$ candidates for evidence of a localised excess in the mass range from $220$ GeV to 5 TeV. No significant excess is observed and $95\%$ confidence-level upper limits between 1.3 pb, and 0.3 fb are placed on the production cross section times branching fraction of neutral and charged spin-1 resonances and CP-odd scalar bosons. These limits are converted into constraints on the parameter space of the Heavy Vector Triplet model and the two-Higgs-doublet model.

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