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By default, the Samsung device does not vibrate during incoming calls, and the vibration when the phone rings can be turned on and off in the device's sound settings.

Android 11 | One UI 3.0
Step 1: Tap on  Settings
Step 2: Tap on  Sounds and vibration
Step 3: Enable or disable  Vibrate while ringing
  1. Tap on Settings
  2. Tap on Sounds and vibration
  3. Enable or disable Vibrate while ringing
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Samsung Instructions