If you need to test on a non-jailbroken device you should learn how to repackage an app to enable dynamic testing on it.
Use a computer to perform all the steps indicated in the article "Patching Android Applications" from the objection Wiki. Once you're done you'll be able to patch an APK by calling the objection command:
objection patchapk --source app-release.apk
The patched application then needs to be installed using adb, as explained in "Installing Apps".
This repackaging method is enough for most use cases. For more advanced repackaging, refer to Android Tampering and Reverse Engineering - Patching, Repackaging and Re-Signing.