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It's quite possible to recover lost text messages and contacts from android device if you use a data recovery app to help immediately. Try this one, by the way, you need to root your phone to restore lost sms and contacts
how to recover lost samsung galaxy text messages

Thanks for sharing this, that's right, we can still recover lost data from android device before they were covered by new data, and try an android data recovery app to help, actually, you don't need to root your phone to recover digital data.
how to recover deleted android photos

You can still recover from android phone on computer before the deleted data were overwritten by new data, an android data recovery could recover lost data from your phone without any backup file, try this Android Data Recovery, it could recover lost text messages, contacts, photos, etc.

To backup samsung galaxy data, an Android Assistant could help, it could transfer sms, contacts, photos, etc. to computer in few simple steps, have a try
how to transfer samsung galaxy contacts to computer

An android data transfer app could transfer everything between android device and computer.
To transfer contacts from samsung to samsung, you should connect your phone to computer separetely.
how to transfer samsung contacts to computer

Thanks for sharing this, as i know, an android data transfer app could transfer data between android device and computer in few steps, i think you can transfer contacts from samsung galaxy s5 to computer first, then connect s6 to computer and move contacts from computer to the phone.