As with most (all?) Android apps, support for permission requires user consent; Camera, "Files and media" and Location are all set to "Not allowed" on my device. From what I can tell based on Microsoft's help page, location may be a requirement of a work/school account and as far as I can remember, I've never been prompted for the location permission - it's possible I denied access if I was, but the app works without it.
From Microsoft's Authenticator help page:
"You will see a prompt from Microsoft Authenticator asking for access to your location if your IT admin has created a policy requiring you to share your GPS location before you are allowed to access specific resources"
https://support.microsoft.com/en-us/account-billing/common-q...