Is there an android app (without using root) that lets you set a timer to automatically reboot if you haven't unlocked it for some time? (In order to turn AFU mode back to BFU mode)

There's literally an app does let's you wipe your phone for a period of not unlocking your phone (Its called "Wasted" available on Fdroid), so there has to be one that could do a reboot (without the wipe), right? 🤔

(If not, can anyone of you try to make one? I'm kinda jealous of Apple having that feature built in to iPhones. 😓)

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It is native with GrapheneOS. Has been for a long time. Apple probably got the idea from them.
- +1 for GrapheneOS
  I also love the auto-bluetooth off after X~time option.
  Google Store has offers till 12.28 I got two 9s for ~$150 after trading in my 7pro and 8pro.
  
  403 error for the google store link

This is built into Samsung phones.
- Where is the setting? I don't have a Samsung.
  
  I guess it's not specifically if you don't unlock for a certain time

Yeah, grapheneOS
It removes a lot of other bad shit while at it.

ShizuTools allows you to run ADB command through intents, which means that you can use Tasker (or other similar app) to run the ADB reboot command. I tested this part and it works.
The problem is that you would need to start Shizuku manually after each restart.
Searching TaskerNet for shizuku, I was able to find some projects that can start shizuku for you, although I haven't tried them out.
So, it does seem possible, but with quite a bit of setup.