No, that adb command is how you test install things. They wouldn't want to force public uploads to Play just to test.
Of course _maybe_ at some point google will also force you to submit your debug key to them. But I don't believe that's the case now.
0. Developer has valid signatures and in Google's good graces, and application hasn't been installed on more than 16 devices
1. Oh, you CI/CD signing infra won't let you? You better fix your workflows to match the Google way.