I use this to copy programs from termux.

in termux (you need lld [pkg i lld]):

   mkdir /sdcard/.adb
   cp `which bash` /sdcard/.adb
   cp $(ldd `which bash`|cut -d ">" -f2) /sdcard/.adb

in adb shell:

   cd /data/local/tmp
   cp /sdcard/.adb/bash
   cp /sdcard/.adb/*.so
   LD_LIBRARY_PATH=.
   ./bash