When you search that error message on the forum, this is the list of matches: Search results for '(~47%) adb: failed to read command: Success' - /e/OS community.
In TWRP did you untick "Signature verification? Edit, you probably did not have that option, but we do not expect to see verify whole-file signature
so probably more important, did you use TWRP or /e/ Recovery? and are you certain you successfully made your first boot into recovery? - the wording here Install /e/OS on a Samsung Galaxy S10 - “beyond1lte” does not look ideal.
Did you try to boot it, despite the error?
Also we see this in “beyon2lte” Samsung - Galaxy S10+ - beyond2lte - Documentation Suggestions - #2 by Manoj