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 10 (One UI 2.0)
Step 1:  Open the  Settings
Step 2:  Tap on  Sounds and vibration
Step 3:  Enable or disable  Vibrate while ringing
  1. Open the Settings
  2. Tap on Sounds and vibration
  3. Enable or disable Vibrate while ringing

Samsung Instructions
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