If you can use Termux, you can use the command-line lftp, which supports SFTP; I use this on Linux, so I'm familiar with it.
$ pkg install lftp
$ lftp sftp://foo.com
I also use rsync in Termux after being exasperated over the lack of a reasonable F-Droid graphical client for that.
I wound up using some non-open-source graphical SCP or SFTP client out of the Google Play Store using Aurora Store's anonymous login at one point, which worked but wasn't what I wanted to use.