Go to settings, security, and remove pass code and fingerprint

 

so on my z fold 3:

no finger print reader:
go to settings>biometrics and security>fingerprints>enter your pin(you should have setup a pin as part of registering your fingerprints)>toggle off fingerprint unlock.

no password or code:
back out and go back to your phone's settings>lock screen>enter your pin again>select none

now you should have no lockscreen or fingerprint to unlock the phone.....you just need to swipe the screen to unlock.

 

go to settings and then security and remove passcode and fingerprint

 

the pass code is not under security. it is in the lock screen setting.

 

oh yes my bad