Main site is example.com but 301 redirects to example.com/
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Is this a problem?
Should we remove this example.com/ if possible?
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I don't see any real problems in your situation. Try to add a canonical from example.com/ to example.com just to make sure Google understand.
It is not a BIIIIIG deal, but the canonical should guarantee your rankings.
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I suggest you also read this post here and the comments. Discusses the issue at length.
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It's important to highlight that this is a 2009 article...
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Referenced that article because it highlights the importance of consistency in the url string.
