You may have to install the Samsung driver software. On windows, at least the adb driver comes with its desktop software. I would start by searching for the Mac version and installing.
Also, the “Samsung Galaxy S” is not a specific device. This is a marketing name that has been applied to half a dozen or more devices worldwide. In some cases, this may be useful (perhaps not important here, but it may be) to indicate which specific hardware you are working with.
Are any other brand devices working properly?
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