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Once the icons on the Samsung device have been changed, the only way to reset them to default is to use Galaxy Themes; there is no option to change the icons to default in the usual settings.

Android 11 | One UI 3.0
Step 1: Tap on  Settings
Step 2: Tap on  Themes
Step 3: Open the  Menu
Step 4: Tap on  My stuff
Step 5: Tap on  Icons
Step 6: Choose  Default
Step 7: Tap on  Apply
  1. Tap on Settings
  2. Tap on Themes
  3. Open the Menu
  4. Tap on My stuff
  5. Tap on Icons
  6. Choose Default
  7. Tap on Apply
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Samsung Instructions