You can do it either by using hardware buttons https://www.verizon.com/support/knowledge-base-222931/ or using adb commands
adb reboot recovery
Then use hardware buttons https://android.gadgethacks.com/how...s10-into-recovery-mode-download-mode-0194521/
It has to work, maybe you have to vary the timing, also you can try with tap on restart phone and keep pressing only volume up button till recovery appears.That method doesn't work on my s10,it looks like Samsung killed the ability to boot into recovery using the button combination on android 11