YSK about LADB, a paid, open source app that allows you to run ADB commands on your phone without root and no PC needed.

You can also do it for free with termux, need a bit more effort, but it'll work.

Soooo what's the difference between this and, like, every other terminal emulator??

WIthout root, is it compatible with Android auto?

I mean, all the "no root" workarounds like ice box use temporary activation scripts from adb, but android auto restarts the adb stack every single time i go in my car, meaning i have to manually run it again

I use aShell. It's FOSS and does the same thing. You need Shizuku for is, which is also FOSS. Both Shizuku and LABD use the wireless debugging feature for this to work, which requires you to be connected to a wifi (wifi without internet works too).