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Click on your HDD/SSHD/SSD in the sidebar menu and click erase at the top of the window.
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Select Mac OS Extended (Journaled) or APFS and name your HDD/SSHD/SSD to whatever name you would like it to have.
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Once you have successfully erased your drive, click the words "disk utility" in the menubar. Click close and Disk Utility should close.
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