Without rooting, there's Shizuku for some limited rights access. Otherwise I know there (was?) a way to connect another phone via USB to act as a the "development PC" to issue ADB commands from, but I've never personally done it so I can't tell you much more than that.

ETA: Wireless debugging is a thing, too. It being enabled (along with actually being connected to some kind of Wi-Fi) is required for Shizuku to start up (& can be shut off without ill effect once you've started Shizuku).