If you use KDE Connect, which is cross-platform and not just for KDE, you can mount your phone's storage remotely without touching adb. I believe it uses sshfs in the background.
It's all automated so you don't have to think about how it works.
I use it every day to interact between my phones and computers (browse files across devices, transfer them, use the phone screen as computer trackpad, control media playing on another device, run remote commands safely... and I know I'm not using even half of the features).
Unfortunately KDE Connect prevents one of my devices from ever sleeping (IIRC it was my Tab S6 Lite w/LineargeOS), resulting in only a few hours of battery life, so I had to stop using it.
It's all automated so you don't have to think about how it works.