Hey there
This has been covered several times on this forum recently. It is still there, just in a different place.
Go to settings, security and follow the steps to create a new pin. It needs to be 6 digits or longer. After you enter your new pin first time, you'll have an option underneath to remove the need to press ok every time you use your pin.
Now re-enter your new pin and you're good to go.
Note - if your pin is already 6 digits or more, you can follow the above and use your existing pin.
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My device is an S25 Ultra.