However you won't be able to run each of them without root because only members of AID_USB group are able to read devices in /dev/bus/usb/ ( 1). Make sure to set proper environment variables ( TMPDIR, HOME or HOMEDIR). this or this) on Termux like on usual Terminal emulator app. Most probably because they are meant for rooted devices. As mention by DeathMaskSalesman in comment, Termux is more like a Linux environment, but so far it doesn't have adb and fastboot in repositories, though proposed. This question is nearly a duplicate of this which has a detailed answer by Firelord, except the Termux part.
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