Juve sacked Pirlo in May 2021 after he led them to the Coppa Italia and Supercoppa titles but could only help them to fourth place in Serie A.
He was then appointed as manager of Turkey's top-tier side Fatih Karagumruk SK in June 2022.
He was released in May while the club, promoted to the top flight in 2020, finished seventh in the 2022-23 Turkish Super Lig.
Sampdoria will play in Serie B next season after being relegated from the top tier.
They finished bottom of Serie A in the 2022-23 campaign, after winning three games and losing 25.