In case you intent to run ADB commands on a VM, or from a different machine, then the one running the Android emulator or connected to the physical device, there are some steps that need to be done. I am currently using Windows OS and a Kali VM. Please find instructions below for that setup:

1. Make sure the VM/networked machine is able to ping the machine connected to the Android device.
2. Start ADB server for the host machine to listen for remote commands:

   adb -a nodaemon server

3. If you receive an error stating that the port is already in use, kill the ADB process and try starting the server again:

   taskkill /f /t /im adb.exe

4. When the server is running, list the emulators and start the desired one from Android Studio or the command line:

   emulator -list-avds

   emulator -avd Pixel_5_-Rooted -writable-system -no-snapshot

5. From the networked machine or VM, run the following command to connect to the emulator via the newly opened port:

   adb -H IP_FROM_HOST_RUNNING_ADB_SERVER -P 5037 shell

6. Install an apk with:

   adb -H IP_FROM_HOST_RUNNING_ADB_SERVER -P 5037 install app_name.apk