How app can access files on USB OTG storages in Android 6.0 (API level 23) without root?

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Since Android 6, according to the USB Media Support documentation, the Storage Access Framework seems to be the only available mecanism:

In Android 6.0, any device that is not adopted is considered portable. […] Third-party apps must go through the Storage Access Framework to interact with files on portable storage; direct access is explicitly blocked for privacy and security reasons.

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