Samsung's One UI offers its users two different types of navigation. Firstly, the standard buttons (Apps, Home, Back) and navigation with gesture control. The function is the same as the buttons, but is minimised and only visible via a narrow bar. By wiping up, for example, you can return to the start screen.

You can also change the button layout on Samsung devices, but only the Back key can be swapped with the App key.

Android 10 (One UI 2.0)
Step 1:  Open the  Settings
Step 2:  Tap on  Display
Step 3:  Tap on  Navigation bar
Step 4:  Choose between  Navigation buttons  and  Full screen gestures
  1. Open the Settings
  2. Tap on Display
  3. Tap on Navigation bar
  4. Choose between Navigation buttons and Full screen gestures

Samsung Instructions
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