Android emulator won't start automatically

I’ve installed Android Studio and expo can run properly if I manually go to the AVD Manager and start up an emulator there first, but if the emulator isn’t already open I get an error:

Couldn't start project on Android: No Android connected device found, and no emulators could be started automatically.
Please connect a device or create an emulator (

What setup or commands does expo need to be able to execute the emulator automatically? I have the android platform-tools directory in my path so I’m able to execute adb, although I had to add it to the path manually.

  Expo CLI 4.10.0 environment info:
      OS: Linux 5.11 Ubuntu 21.04 (Hirsute Hippo)
      Shell: 5.8 - /usr/bin/zsh
      Node: 14.17.4 - ~/.volta/tools/image/node/14.17.4/bin/node
      Yarn: 1.22.11 - ~/.volta/tools/image/yarn/1.22.11/bin/yarn
      npm: 6.14.14 - ~/.volta/tools/image/node/14.17.4/bin/npm
      expo: ~42.0.1 => 42.0.3 
      react: 16.13.1 => 16.13.1 
      react-dom: 16.13.1 => 16.13.1 
      react-native: => 0.63.2 
      react-native-web: ~0.13.12 => 0.13.18 
    Expo Workflow: managed

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