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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 11 | One UI 3.0
Step 1: Tap on  Secure Folder
Step 2: Open the  Menu
Step 3: Tap on  Settings
Step 4: Tap on  Auto lock Secure Folder
Step 5: Choose an  option
  1. Tap on Secure Folder
  2. Open the Menu
  3. Tap on Settings
  4. Tap on Auto lock Secure Folder
  5. Choose an option
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Samsung Instructions