Not true, I have been distributing a full SDK for years, which can be used to compile many Swift packages for Android with minimal changes.
There is a wrapper to make this easier, been around even longer.
As in, without using whatever Kotlin<->C++ interop there is now, but using some new Kotlin<->Swift interop? Somebody would have to work on that, but I don't know of anybody who is.
For C, this has long been available through Swift's C interop. I don't believe there's much system C++ APIs, if any.
Keep in mind that google doesn't want you using C/C++ on Android, so what exists in the NDK is the bare minimum to port over legacy code. For example, you cannot access the Android GUI APIs directly from C++, only from the JVM, even though that GUI is implemented in C++.
The Android libc++ uses a modified version of the upstream LLVM modulemap, so that works, but the Bionic libc doesn't have one. I opened an issue for it years ago, but I doubt anybody will work on it anytime soon. Swift's C++ Interop is in a semi-broken state on Android, partially because of those modulemap issues, as we currently just use the glibc modulemap that comes with the Swift toolchain.
For other C system headers, yes, you may need a modulemap, just like that JNI wrapper has.
To sum up, Android has almost no system C++ APIs, Swift's C++ Interop is currently incomplete on Android (note all the Interop/*Cxx tests marked as unsupported on the community Android CI), and Swift already works fairly well on Android, so support for C++ interop would add almost nothing on that platform.