If face detection is enabled to unlock the lock screen, the Samsung device will by default stay on the lock screen when the registered face has been detected. A simple wipe is now enough to unlock the device.

In the security settings of the Samsung device, we can disable the option "Stay on lock screen" to go directly to the last screen used after unlocking.

Android 10 (One UI 2.0)
Step 1:  Open the  Settings
Step 2:  Tap on  Biometrics and security
Step 3:  Tap on  Face recognition
Step 4:  Enter  PIN / Pattern / Password
Step 5:  Enable or disable  Stay on Lock screen
  1. Open the Settings
  2. Tap on Biometrics and security
  3. Tap on Face recognition
  4. Enter PIN/Pattern/Password
  5. Enable or disable Stay on Lock screen

Samsung Instructions
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