Enabling USB debugging on the Samsung device will put it into debugging mode, which is actually intended to allow developers to share more information and data from the device. USB debugging is also necessary for rooting or synchronization software.

Note: To enable or disable USB debugging, the developer options must be enabled!

Android 10 (One UI 2.0)
Step 1:  Open the  Settings
Step 2:  Tap on  Developer options
Step 3:  Enable or disable  USB debugging
  1. Open the Settings
  2. Tap on Developer options
  3. Enable or disable USB debugging

Samsung Instructions