I know that WhatsApp uses some kind of encryption to encrypt messages, but is it asymmetric encryption?
If not what kind of encryption does it use?
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To answer your question, it uses both. Sessions are established via asymmetric cryptography (Curve25519) with users' public keys. Once a session is establish, symmetric cryptography (AES-CBC-256) is used along with hash authentication (HMAC-SHA256) to encrypt/decrypt and authenticate messages.