The migration path from Xamarin.Android (Native UI) is to .Net for Android (Native UI), which is part of the overall Maui project, so you'll still be using Maui even if you're not using the Maui UI controls. You found the right docs.
Since you're coming Native UI and not from Forms, you won't use the Maui UI controls (the successor to Xamarin.Forms), but you may use the Maui essentials classes (the successor to Xamarin.Essentials).
See Xamarin.Android project migration and Migrate Xamarin.Essentials code in .NET Android and .NET iOS apps