How do I create a local device farm for automation testing with Android devices (smartphones)?

I want to create a Device farm Locally for Automation testing of my android app on multiple real devices alongside. Because the other services like AWS-Device farm and Xamarin are too costly and don't provide control over Testing framework servers.

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Device Farm is an app testing service that enables you to test your Android, iOS, and Fire OS apps on real, physical phones and tablets. Basically I just need to connect multiple devices with my Appium testing framework and run my test scripts on them parallely.

Please Suggest solution, Thanks & Regards