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On the Samsung device, apps can be removed from a folder simply by holding and dragging, but unfortunately there is no way to delete multiple apps from a folder at once.

Android 11 | One UI 3.0
Step 1: Tap on a  Folder
Step 2: Tap and hold an  App
Step 3: Tap on  Remove
  1. Tap on a Folder
  2. Tap and hold an App
  3. Tap on Remove
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Samsung Instructions