Solution:

import { startActivityAsync } from "expo-intent-launcher";

...

// url : 'intent://{appScheme}#Intent; ...'
const intents = url.split("#Intent;");
const path = intents[0] || "";
const query = intents[1] || "";
const params = {};
query.split(";").map((each) => {
  if (each.includes("=")) {
    const pairs = each.split("=");
    params[pairs[0]] = pairs[1];
  }
});
const scheme = params?.scheme;
const packageName = params?.package;
const data = path.replace("intent://", `${scheme}://`);
await startActivityAsync("android.intent.action.VIEW", {
  data, // 'kakaopay:// ....' 
  packageName, // 'com.kakao.talk'
});