I want to share media with the Samsung smart TVs on my home network with having my PC running 24/7, so I thought the solution would be to attach an external HDD to the USB port on my modem/router.
OK, now the TVs can see the content of the disc but only as a collection of files under one of three folders; Music, Photos, Videos.
Is there any way to get the TV to see the real folders?
This is probably a tv limitation.
Why not use a media streaming app like Plex?
You can select files to be run using a mobile phone and cast media to tv.
I agree with @Cerberus about Plex. (Note: Kodi is not available for Samsung smart TVs natively.)
As you have discovered, plugging an external HDD into your router just shows you the media filenames... because there's no metadata to work with (that the Samsung TV understands natively), other than whether the file is in a compatible/displayable format.
Using Plex (which is available for Samsung smart TVs) you can use the media's metadata to display content in a much more pleasing format...
I've done this for 2 friends now, both of whom have Samsung smart TVs.
For more info, have a look at the Plex website, for example:
Which Smart TV models are supported?
Note that Plex is free to use. Despite what the Plex website implies/suggests/encourages, you don't need to pay anything. Whilst you do need to create a free Plex account initially, once you sign in to the account then you can configure Plex's network settings so it can be used 'LAN-only'. This means that, once configured, you won't need to have internet access in order to sign in/authenticate... Plex will just revert to using 'local DNLA mode' in the background. (See How to Use Plex Media Server Without Internet Access for more info.)
(For other makes of TV where there is no Plex app available, many people use plug-in devices like Fire TV (Amazon), Chromecast and/or Roku dongles. Alternatively, buy a cheap media server (here's the one I bought for my daughter), connect it to your TV via HDMI then plug your HDD into it.)
Hope this helps...
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