Quick answer: Yes, the Galaxy Tab S10 Ultra comes with an S Pen included in the box. The S Pen has been a staple of Samsung's products since it was introduced with the original Galaxy Note in 2011.
Body Dimensions 256.6 x 175.3 x 9.7 mm (10.10 x 6.90 x 0.38 in) 256.6 x 175.3 x 9.7 mm (10.10 x 6.90 x 0.38 in) ...