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"Submit Sample" is a "Run Process" element and "Manage Sample" is a "CRUD" element. We can combine the ability to "Run Process" into CRUD's add button. With this, we can hide the "Sample Approval Process" category.
First of all, obtain the "Custom ID" / Link ID or the "Run Process" element as shown in the figure above.
Then, insert the following script into the "Custom Footer" of the CRUD.
By doing so, we have remove the default capability of "Add Record" in CRUD and points it to "Run Process".