adb connecting a device to itself is just bad design and a hack. Either the capabilities should just be granted directly to the app or it should all be blocked.
Shizuku uses Binder AFAICS[^1]. Looking deeper it seems that Shizuku does not connect to the device itself per se, but rather it has a privileged server launched manually through adb. Never used Shizuku, so can't say for sure.
[1]: https://github.com/rikkaapps/shizuku#how-does-shizuku-work