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No, the Samsung Galaxy S6 series do not support eSIM, including S6, S6 (USA), S6 Duos, S6 Plus, S6 Active, S6 Edge, S6 Edge (USA), S6 Edge+, S6 Edge+ (USA), S6 Edge+ Duos.
eSIM is a new technology that allows you to use mobile plans without inserting a physical SIM Card. Samsung Galaxy S6 / S6 Edge was designed to work with traditional nano-SIM cards only.
This new feature is only available in later models starting with the Samsung Galaxy S20.
Your current Samsung is not compatible with eSIM, but you can still use this new technology in 02 ways:
NOTE: Be aware that eSIM is not available everywhere or on every device. Your location or who you buy your phone from sometimes affects the availability of eSIM.