To select only one object in a group, verify that Single select mode is active on either the 2D or 3D view toolbar:
Clicking an object that is snapped together with other objects will then result in only that particular object being selected. The yellow snap points becomes visible, and the selected object has a purple frame around it (if enabled in the Control Panel):
Use the keyboard shortcut "S" to quickly toggle between group select mode and single select mode.
While selecting objects with the Rectangle or Lasso select tools, it is not possible to toggle between group select mode and single select mode.
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