Can I access icloud email from my Samsung phone
Can I access iCloud email on my Samsung SG21
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Yes. See the information in: Mail server settings for iCloud email clients - Apple Support
Note that you will need to turn on two-factor authentication for your Apple ID if it is not already on and then you will use an app-specific password for iCloud in the Android mail app rather than your usual Apple ID password. See: Two-factor authentication for Apple ID - Apple Support and Using app-specific passwords - Apple Support
The following may also help: https://www.androidcentral.com/how-set-your-icloud-email-account-android