Best way to access shared iCloud calendars from Android device?

I share two iCloud calendars with my family (all using Apple devices) and recently started using a OnePlus 13 Android phone. Previously used SmoothSync on Android, which is no longer available.

Methods like granting Google Calendar full access have been suggested en.wikipedia.orgen.wikipedia.org+3discussions.apple.com+3discussions.apple.com+3discussions.apple.com, but I’m hoping for a cleaner, two-way solution: view/edit/add entries from Android’s default Calendar app, synced directly with iCloud.

Are there Apple-supported settings or third‑party tools you’d recommend? Ideally without needing iCloud on a PC, switching between devices, or using non-stock calendar apps.

Many thanks!