Sound made by Samsung Galaxy S10 Series during shaking

The sound is due the Camera Lens Barrel required to operate the Auto Focus function.
 

Your Galaxy S10+/S10 supports triple camera and it consists of a 12MP main camera with a wide angle of view,  a 12MP telephoto camera and 16MP ultra wide camera. And Galaxy S10e supports 12MP main camera with a wide angle of view and 16MPultra wide camera.

All cameras also support the Auto Focus feature required for high quality and high resolution of camera.

Auto Focus feature adjusts focus by moving the Lens units up and down over the Image Sensor. This enables Auto Focus speed and accuracy and helps in reducing battery usage.

However, Camera module is fitted with a Stopper part to limit lens unit movement within the space for the Camera module.

When shaking, the Lens and Stopper touch will touch and a minute noise may occur. This is normal due to the operation of the Auto Focus feature of camera and the device is not faulty. The sound made may differ slightly by device types and model.