In some, death was the immediate objective, as part of a plan to murder as many Jews as they could lay their hands on.
In others, death was a casual by-product of the objective of terrorising the rest of the population. Initially, prisoners were released, under strict orders not to talk about what they had gone through (but they didn’t need to). Once the war and occupations were under way, these camps were both for punishment of any resisters or others that had spoken out of turn, helped escapees, listened to foreign radio, as well as those like gypsies and homosexuals who were held not to belong, but some might be held to live for particular purposes, as specialist labour (e.g., the plan to flood Britain with forged currency), or because they might be useful in some other way (particularly once the war was obviously being lost, and some Nazis were looking for insurance policies).
Both selected people for forced labour, in both you were disposed of in various ways if they thought they had no further use for you, in both there was also casual and unplanned violence and cruelty.
You might think that’s a distinction without a difference, from the moral point of view. But each is at a different point on a spectrum of the Nazis’ intentions and attitudes.