There is no “One Size Fits All” counter to Samuro like Tychus is to high HP pools or Zeratul is to mages.
Countering Samuro is primarily Map and play style dependent, and I’d break it down into three main categories:
1.) Counter him 1v1 (Braxis, Dragonshire toplane etc) with Illidan, Hogger, and to a lesser extent Sonya.
2.) Counter him in the team fight (like Battlefield of Eternity) with Genji, Tracer, Lunara. If they focus on him, when Samuro swaps out low hp, these heroes can quickly be ready and reliably kill him on his escapes. The Samuro has to change his plan and can’t do what he would usually want to then.
3.) Match his macro. He’s primarily a split push, experience bot who is really slippery. If you don’t let him free push and dedicate someone to soaking with him in lane and around the map, he’s not giving his team much advantage of having him.
You can also draft a self reliant team or your team be mindful of him and pounce the instant he tries anything and he really can’t do much. Samuro can’t take a hit at all and his cooldowns are long. Kill his clones immediately and he has to leave and is out for 16 seconds (12 or so with lv 13 CDR)
Hope this helps.