Android 10: With Android 10 (One UI 2) contacts can be deleted, but are still in the trash for a few days, so deleted contacts can be restored.

Android 9: Saved contacts can be deleted directly from the Samsung device, even if they were saved in the Samsung or Google account. If a contact is deleted, it cannot be restored.

Android 10 (One UI 2.0)
Step 1:  Open the  Contacts -App
Step 2:  Tap and hold a desired  Contact
Step 3:  Tap on  Delete
Step 4:  Tap on  Move to Recycle bin
  1. Open the Contacts-App
  2. Tap and hold a desired Contact
  3. Tap on Delete
  4. Tap on Move to Recycle bin

Samsung Instructions
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