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I've had my Fold 3 since the 16th of September and the internal screen protector is doing well , touch wood !
Yes you can remove the screen protector and this won't void your warranty but do be careful as damage to the screen caused by removing the protector will.
I've seen YouTube videos of this being removed and its just like removing normal Tpu screen protectors.
Personally I wouldn't have thought Samsung would need to factory reset the phone as this is a screen protector being replaced and not in connection to the phone itself experiencing software issues, however obviously I can't guarantee this so backing up is essential.
I've seen YouTube videos of people fitting the Whitestone Dome Glass Screen Protector once they've removed the original screen protector and although it looks fiddly to fit I think that's the route I'll take if and when I have to.
If this was my situation I'd leave mine alone and only replace it when the screen protector becomes too poor a fitting to be able to use the display properly etc.
Have you looked at the Samsung Doorstep Repair Service if Samsung Experience Stores or Samsung Repair Centres are unsure if they can effect the replacement or try another repair centre that's local enough.
Would you let us know how you get on with this please.
I wish you all the best with this situation.
Daily Driver > Samsung Galaxy s²² Ultra 256Gb in Phantom Black.
The advice I offer is my own and does not represent Samsung’s position.
I have no affiliation with Samsung.