So I've rooted my Galaxy S10 Exynos using Magisk and now I wish to install Twrp for easier updates flashing.
Will installing TWRP on my magisk rooted device wipe my data?
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No. TWRP is only a custom recovery that replaces your stock recovery. But be sure to flash the right TWRP for your device.
Searching in this XDA thread using your model number would be a good idea (On some devices it is possible that root is lost, and you may need to root again)