@Manzbhure: Are you using the USB cable that came packaged with your Galaxy S10? If so, try heading to Settings > Apps > Tap the 3 lines to the right of 'Your apps' > Toggle on Show System Apps > OK > Select 'USBSettings' from the list of apps > Force Stop > Storage > Clear cache. If the issues persist, head to the Samsung Members app > Press and hold on the app icon > Diagnostics > Run through the Cable Charging and USB Connection tests. Do you get any 'Action Required' messages?
