Threema does seem to tick all the boxes including not requiring any e-mail address, phone number or SIM to register, and authenticating contacts via QR code, biometric or PIN login access.
Yes it does not have group video calls (just 1 to 1) but security and privacy come first before nice-to-haves. It has Android and iOS apps and a browser based web access for desktop. Just don’t lose your fingerprint or backup ID…
See my updated comparison of secure messengers at CryptPad