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In strongly correlated materials, interacting electrons are entangled and form collective quantum states, resulting in rich low-temperature phase diagrams. Notable examples include cuprate superconductors, in which superconductivity emerges at low doping out of an unusual ``pseudogap'' metallic state above the critical temperature. The Fermi-Hubbard model, describing a wide range of phenomena associated with strong electron correlations, still offers major computational challenges despite its simple formulation. In this context, ultracold atoms quantum simulators have provided invaluable insights into the microscopic nature of correlated quantum states. Here, we use a quantum gas microscope Fermi-Hubbard simulator to explore a wide range of doping levels and temperatures in a regime where a pseudogap is known to develop. By measuring multi-point correlation functions up to fifth order, we uncover a novel universal behaviour in magnetic and higher-order spin-charge correlations. This behaviour is characterized by a doping-dependent energy scale that governs the exponential growth of the magnetic correlation length upon cooling. Accurate comparisons with determinant Quantum Monte Carlo and Minimally Entangled Typical Thermal States simulations confirm that this energy scale agrees well with the pseudogap temperature $T^{*}$. Our findings establish a qualitative and quantitative understanding of the magnetic origin and physical nature of the pseudogap and pave the way towards the exploration of pairing and collective phenomena among charge carriers expected to emerge at lower temperatures.