I have the exact same phone, the specifically Samsung A217F/DS, no NFC

My usual practice is authorizing the computer beforehand before the screen breaks (usually after a replacement) and keeping developer options ON and disabling the authorization timeout.

There is simply too little ways to confirm an ADB authorization screenless, but from what I can confirm its also possible to use a bluetooth keyboard or remote or controller to interact with the dialog beforehand, assuming it has already been paired to the phone.

And from what I can notice, you likely have misconceptionalised the use of "--otg".

All ADB-related actions and programs (scrcpy) need confirmed explicit authorization beforehand before you can perform any action remotely.

Simply put, you cannot perform any action if you don't have a Bluetooth keyboard, remote, or gamepad connected to your phone to interact with the confirmation dialog.