Magisk is still around, though I've never used it myself (didn't root my last phone, and rooted the previous one pre-magisk).
But you'll need a custom recovery before you can use it, so the first question is whether one exists for your particular model and whether you can unlock the bootloader to install it? I understand that US Samsung phones often have very locked-down bootloaders (whereas my European s21 simply has the switch to enable unlocking in the developer options).