App.kt

    /* inside activity class */
    private val launcher = registerForActivityResult(OpenDocumentTreePersistent()) { uri: Uri? ->
        if (uri != null)
            contentResolver.takePersistableUriPermission(uri, Intent.FLAG_GRANT_READ_URI_PERMISSION or Intent.FLAG_GRANT_WRITE_URI_PERMISSION)
        
        /* ... */
    }

OpenDocumentTreePersistent.kt

class OpenDocumentTreePersistent : OpenDocumentTree() {
    override fun createIntent(context: Context, input: Uri?): Intent {
        val intent =  super.createIntent(context, input)
        intent.addFlags(
            Intent.FLAG_GRANT_READ_URI_PERMISSION
            or Intent.FLAG_GRANT_WRITE_URI_PERMISSION
            or Intent.FLAG_GRANT_PERSISTABLE_URI_PERMISSION
            or Intent.FLAG_GRANT_PREFIX_URI_PERMISSION
        )

        return intent
    }
}