I have a small WiFi gadget (based on an ESP8266), which is programmed to answer mDNS queries on
esp.local. It can be discovered without any problems by iOS devices.
However, my phone's android (6.0.1) doesn't allow for this so I'm looking for ways to get this to work. The phone connects to my router's WiFi, so I think I can somehow go from there. I can install a local DNS to help resolve the address (there's an unused Raspberry Pi which could run
I also found this question which has an answer that indicates that I can change android's preferred DNS to a local one, so this seems to be feasible. I'm not sure if the way of changing the phone's preferred DNS server described there really works, but doing that plus installing a custom local DNS server seems to be the only practical way.