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 10 (One UI 2.0)
Step 1:  Open the  folder
Step 2:  Tap and hold the  App-Shortcut  you want
Step 3:  Tap on  Remove from Home
  1. Open the folder
  2. Tap and hold the App-Shortcut you want
  3. Tap on Remove from Home

Samsung Instructions
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