By default, the "Secure Folder" is automatically locked on Samsung devices once the display is turned off, but it can also be locked immediately, on restart or at a certain time.

Android 10 (One UI 2.0)
Step 1:  Open the  Settings
Step 2:  Tap on  Biometrics and security
Step 3:  Tap on  Secure Folder
Step 4:  Tap on  Auto lock Secure Folder
Step 5:  Choose desired  Option
  1. Open the Settings
  2. Tap on Biometrics and security
  3. Tap on Secure Folder
  4. Tap on Auto lock Secure Folder
  5. Choose desired Option

Samsung Instructions
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