Your app uses the Companion Device Manager and declares the REQUEST_COMPANION_START_FOREGROUND_SERVICES_FROM_BACKGROUND permission or the REQUEST_COMPANION_RUN_IN_BACKGROUND permission. Whenever possible, use REQUEST_COMPANION_START_FOREGROUND_SERVICES_FROM_BACKGROUND.
Так вроде же в доке написано что можно:
https://developer.android.com/about/versions/12/foreground-services#cases-fgs-background-starts-allowed
Your app uses the Companion Device Manager and declares the
REQUEST_COMPANION_START_FOREGROUND_SERVICES_FROM_BACKGROUNDpermission or theREQUEST_COMPANION_RUN_IN_BACKGROUNDpermission. Whenever possible, useREQUEST_COMPANION_START_FOREGROUND_SERVICES_FROM_BACKGROUND.