The companion app on Android goes into full screen mode for stock Android (I’m running the pixel 7 pro)
The method to close an app is typically just swiping up from the bottom of the screen, however because the companion app is in full screen mode and the pixel menu bar is hidden, swiping up scrolls the dashboard menu and if a control is position under your thump it will trigger the control as you swipe.
So when trying to exit the app I often trigger lights and scrolling the dashboard.