I was in your same situation wherein I’d just installed expo and tried to run the app in an emulator on my Mac.
Apparently the problem was that ANDROID_HOME and adb weren’t set in my $PATH.
I solved it by referring to Option 3 (I already had android studio installed) of the top voted answer here.
In case you want to know what I did, I use ohmyzsh by default so I did the following:
nano .zshrc
Add these two lines in the .zshrc file.
export ANDROID_HOME=/Users/$USER/Library/Android/sdk
export PATH=${PATH}:$ANDROID_HOME/tools:$ANDROID_HOME/platform-tools
Then run this in your terminal:
source ~/.zshrc
Restart your terminal and now everything works!