How do I take two step authentication off my phone which is an Android?

Hmmm, I don't think you can turn it off once it's on, BUT, if you no longer own Apple devices and want it to stop trying to send codes to them, I think you can just remove/update your trusted devices at appleid.apple.com and make sure your phone number for call/sms codes is correct.

Past two weeks enabled, two-factor authentication on an Apple ID cannot be disabled.

You can have two-factor prompts go to voice, which would be an option with Android.