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Google confirms 'high-friction' sideloading flow is coming to Android
(www.androidauthority.com)
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You basically do already. Most cheaper PCs come with S mode enabled from the store. Turning it off requires accepting a scary disclaimer that it's a permanent change and you're likely to fuck up your computer.
I have to be honest though, I kinda like it for older relatives that I can't convince to switch to Linux. Prevents tech support calls to me. And if Android was setup the same way with a one time prompt, I'd be perfectly happy.