How can I reboot back to normal Samsung?

Official https://doc.e.foundation/devices/dream2lte/install

[HOWTO] Install /e/ on a Samsung smartphone with Windows easily

My personal hint is to not unselect auto-reboot, and just press “volume up” during the flash of the custom recovery manager

By using two sets of TWRP backup/restore…

No…
But you can keep internal storage by not format /data, but only wipe /data.