Emulating/Spoofing a USB HID Device with an Android without custom firmware or hardware

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I know a similar question has been asked here: Is it possible to program Android to act as physical USB keyboard? However, I would love to know if there's a possible way to create a USB Human Interface Device WITHOUT requiring the target device to flash custom firmware or external hardware devices. Could I perhaps modify firmware through code to allow for HID? Basically I'm wondering if there's a way to do this where on the user's side they only need to download and run an app.

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