My phone is charging my MacBook over USB C, and not showing up as an adb device. Is there a fix?
I believe I've found the issue, I added an edit to the original post. Looks like this is a problem with macOS. I came across this article that mentioned for Samsung phones you need to use Smart Switch. I downloaded it for macOS, but it warned me that until further notice they do not support Big Sur as their system extension has not been approved. There is a temporary workaround mentioned in the warning that can be found here, but it is a bit involved, requiring you to disable SIP. For now this seems like the only solution until Apple approves the extension.