Do you mean when you turn the screen on and enter a PIN on the lock screen?
Looks like this is the common method for Samsung:
On the Home Screen tap on Apps.
Go to Settings then tap on Lock screen and security.
Choose Lock screen.
Select the Screen Lock type. (You'd want None or Swipe)
Works down to 'lock screen and security'
choices are 'screen lock type' which is 'pin' and fixed
down to secure startup......require pin when device starts up or 'do not require' I chose the latter then ok
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