There's AirGuard app on Android that will similarly check for AirTags.
Of course, Tracker Detect needs to be activated manually so you'll still be stalkable unless you constantly open the app.
After the UI update to AirGuard the app doesn't seem to detect any Apple devices anymore. Maybe nobody around me uses AirTags, but I'd still expect it to detect the occasional iPhone.
A previous version of AirGuard had a bug that interfered with detection, but that issue was fixed in version 1.3.4 (released in May):
I'm not using a stock OS, so keeping background processes active is not a problem on my device.