Two-Factor Authentication

See the following from Two-factor authentication for Apple ID - Apple Support

If you already use two-factor authentication, you can no longer turn it off. Certain features in the latest versions of iOS and macOS require this extra level of security, which is designed to protect your information. If you recently updated your account, you can unenroll for two weeks. Just open your enrollment confirmation email and click the link to return to your previous security settings. Keep in mind, this makes your account less secure and means that you can't use features that require higher security.

You cannot set up the Android phone as a trusted device but you can set it up as a trusted phone number. There is information on that in Two-factor authentication for Apple ID - Apple Support