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We present conductance-matrix measurements of a three-terminal superconductor-semiconductor hybrid device consisting of two normal leads and one superconducting lead. Using a symmetry decomposition of the conductance, we find that the antisymmetric components of pairs of local and nonlocal conductances match at energies below the superconducting gap, consistent with expectations based on a non-interacting scattering matrix approach. Further, the local charge character of Andreev bound states is extracted from the symmetry-decomposed conductance data and is found to be similar at both ends of the device and tunable with gate voltage. Finally, we measure the conductance matrix as a function of magnetic field and identify correlated splittings in low-energy features, demonstrating how conductance-matrix measurements can complement traditional tunneling-probe measurements in the search for Majorana zero modes., Comment: 6 + 2 pages, 4 + 2 figures