@MJ, Thanks for posting in Q&A. Based on my researching, currently Android is not included in the supported platforms for remote help
https://video2.skills-academy.com/en-us/mem/intune/fundamentals/remote-help#prerequisites
And for the remote using TeamViewer, the supported devices for Android are only Android device administrator (DA) and Android Enterprise personally owned devices with a work profile (BYOD). Android Enterprise corporate-owned devices are not supported. Team viewer works with the Company portal app. It doesn't work with the Intune app.
https://video2.skills-academy.com/en-us/mem/intune/remote-actions/teamviewer-support#prerequisites
Hope the above information can help.
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