I saw something about changing the cable's hardware ids to avoid this. I guess you find a piece of hardware that you know is trusted by the target phone and then copy its hardware id onto the cable if you want to evade that warning.

I'm skeptical that would work. If anything it's authenticated with the computer itself, not the cable.

Maybe you first use physical access to connect to the victim’s computer, get the ID, and masquerade as it in the cable? It’s a hassle, but if the laptop is left alone in the house, doable.