Automate inserting 2FA code when screen is locked

I use a service for which I'm forced to use two-factor authentication whenever I log in. It's pretty inconvenient and unnecessary, so I would like to automate accepting the authentication request when it arrives on my phone. The service uses an Android app that sends a notification when an authentication request arrives. When I then open the app, I need to insert a 4-digit PIN code which accepts the request. I tried using an automation app (MacroDroid) to open the 2FA app whenever it sends a notification and simulates the four clicks. However, this only works when the phone is unlocked, and as far as I understand, I will run into this problem with any automation app. The goal is to accept any authentication request without having to interact with my phone. Is there a way to insert the code without unlocking my screen? Would I have to root it? Or do I just have to keep my phone permanently unlocked?