We can always turn the app icon indicator on the home screen on/off or we can turn it on for each individual app.

Android 10 (One UI 2.0)
Step 1:  Open the  Settings
Step 2:  Tap on  Apps
Step 3:  Tap on desired  App
Step 4:  Tap on  Notifications
Step 5:  Enable or disable  App icon badges
  1. Open the Settings
  2. Tap on Apps
  3. Tap on desired App
  4. Tap on Notifications
  5. Enable or disable App icon badges

Samsung Instructions
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