Is NFC required for reading RFID? Can we read RFID like QR-bar code without NFC in Android? I am confused because we can read QR-Barcode with simple apps like Bar Code Scanner. After searching 2-3 hours I found NFC with every detail where RFID is defined.

So I have to consider that it is impossible to read RFID without NFC.
Can you read RFID without NFC? No you cannot.

Can you read QR-Code without a camera?

You need the right hardware to read codes. For reading QR-code you need an image of the QR-Code therefore a camera. Without a camera you cannot read QR-Code.

To read RFID you need hardware to read the code. The hardware needed is NFC, so without NFC you cannot read RFID.