Yep. KDE Connect app exists on Android and does not need root. You connect both of them to the same network. Once they discover each other over network (or you

Yep. KDE Connect app exists on Android and does not need root. You connect both of them to the same network. Once they discover each other over network (or you add the ip address manually), click the pair button on one device and accept the pairing request on the other device. They exchange ssh keys etc.. so the connection will work automatically even when you switch networks the next time.