I have installed a self-signed certificate on my Android phone.
Using the browser on my phone, I can navigate to my server and it shows the connection is secured using my certificate:
But, when I try to connect from the Companion app on the same phone using the same URL for the server, I get:
Unable to connect to Home Assistant
The Home Assistant certificate authority is not trusted, please review the Home Assistant certificate or the connection settings and try again.
android apps have a different trust store than the browser, the error is telling you the CA is unknown and you will need to import it to get it to recognize the certificate as valid
Prior to my original post, I follow the referenced instructions and I can see the certificate under Security & privacy > More security & privacy > Encryption & credentials > Trusted credentials.