I have to write some text in Romanian language and in this language there is often usage of hyphen inside a word. The lyrics often contain this kind of hyphen inside the word, but it shouldn’t break the syllable for the next position. When working in Finale there was this trick to do this by using the alternative Hyphen with key command “alt+0173” and is called “Soft Hyphen” , U+00AD. I tried to use this in Dorico 3.1 but there was no success. Finally I used this other sign but is not the same as you can see from the screenshot.
What font are you using? With many fonts, holding down Alt while typing a hyphen will give you a non-breaking hyphen that looks the same as a regular hyphen. In cases where it doesn’t, you can resort to various different unicode hyphens (U+002D for instance).
Unless I’m mistaken, what the OP wants is an actual hyphen, not a tilde. If he/she/they had figured out how to insert it in Dorico (and they clearly have worked out how to use a tilde) then they wouldn’t be asking the question, would they?