Dorico automatically shows rests between the notes you input, as appropriate for the prevailing time signature and their position in the bar. When using voices to notate passing notes, as in bar 29, rests in those voices are not always wanted. In such cases, you can delete rests.
Procedure
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In bar 29, click on the staff to select all items in the bar.
Result
All rests within the selection are removed. This is done by automatically activating the Starts voice and Ends voice properties in the Notes and Rests group of the Properties panel on the required notes so that no rests are shown in the selected region.
