You can use Transition or Animator that changes visibility of section to be expanded/collapsed, or ConstraintSet with different layouts.

Easiest one is to use motionLayout with 2 different layouts and constraintSets to change from one layout to another on button click. You can change between layouts with
val constraintSet = ConstraintSet()
constraintSet.clone(this, R.layout.layout_collapsed)
val transition = ChangeBounds()
transition.interpolator = AccelerateInterpolator(1.0f)
transition.setDuration(300)
TransitionManager.beginDelayedTransition(YOUR_VIEW, transition)
constraintSet.applyTo(YOUR_VIEW)
With Transition api
RotateX.kt
I created the one in gif using Transitions api that change rotationX.
class RotateX : Transition {
    @Keep
    constructor() : super()
    @Keep
    constructor(context: Context, attrs: AttributeSet) : super(context, attrs)
    override fun getTransitionProperties(): Array<String> {
        return TRANSITION_PROPERTIES
    }
    override fun captureStartValues(transitionValues: TransitionValues) {
        captureValues(transitionValues)
    }
    override fun captureEndValues(transitionValues: TransitionValues) {
        captureValues(transitionValues)
    }
    override fun createAnimator(
        sceneRoot: ViewGroup,
        startValues: TransitionValues?,
        endValues: TransitionValues?
    ): Animator? {
        if (startValues == null || endValues == null) return null
        val startRotation = startValues.values[PROP_ROTATION] as Float
        val endRotation = endValues.values[PROP_ROTATION] as Float
        if (startRotation == endRotation) return null
        val view = endValues.view
        // ensure the pivot is set
        view.pivotX = view.width / 2f
        view.pivotY = view.height / 2f
        return ObjectAnimator.ofFloat(view, View.ROTATION_X, startRotation, endRotation)
    }
    private fun captureValues(transitionValues: TransitionValues) {
        val view = transitionValues.view
        if (view == null || view.width <= 0 || view.height <= 0) return
        transitionValues.values[PROP_ROTATION] = view.rotationX
    }
    companion object {
        private const val PROP_ROTATION = "iosched:rotate:rotation"
        private val TRANSITION_PROPERTIES = arrayOf(PROP_ROTATION)
    }
}
create xml file that targets expand button
    <?xml version="1.0" encoding="utf-8"?>
    <transitionSet
        xmlns:android="http://schemas.android.com/apk/res/android"
        android:interpolator="@android:interpolator/fast_out_slow_in">
    
        <transition class="com.smarttoolfactory.tutorial3_1transitions.transition.RotateX">
            <targets>
                <target android:targetId="@id/ivExpand" />
            </targets>
        </transition>
    
        <autoTransition android:duration="200" />
    
    </transitionSet>
My layout to be expanded or collapsed
<?xml version="1.0" encoding="utf-8"?>
<layout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools">
    <com.google.android.material.card.MaterialCardView
        android:id="@+id/cardView"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:layout_marginHorizontal="4dp"
        android:layout_marginVertical="2dp"
        android:clickable="true"
        android:focusable="true"
        android:transitionName="@string/transition_card_view"
        app:cardCornerRadius="0dp"
        app:cardElevation="0dp"
        app:cardPreventCornerOverlap="false">
        <androidx.constraintlayout.widget.ConstraintLayout
            android:layout_width="match_parent"
            android:layout_height="wrap_content"
            android:paddingTop="16dp"
            android:paddingBottom="16dp">
            <androidx.appcompat.widget.AppCompatImageView
                android:id="@+id/ivAvatar"
                android:layout_width="40dp"
                android:layout_height="40dp"
                android:layout_marginStart="16dp"
                android:layout_marginTop="8dp"
                android:scaleType="centerCrop"
                app:layout_constraintStart_toStartOf="parent"
                app:layout_constraintTop_toTopOf="parent"
                tools:src="@drawable/avatar_1_raster" />
            <androidx.appcompat.widget.AppCompatImageView
                android:id="@+id/ivExpand"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:layout_marginEnd="8dp"
                android:padding="8dp"
                app:layout_constraintEnd_toEndOf="parent"
                app:layout_constraintTop_toTopOf="parent"
                app:srcCompat="@drawable/ic_baseline_expand_more_24" />
            <TextView
                android:id="@+id/tvTitle"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:layout_marginStart="12dp"
                android:layout_marginTop="6dp"
                android:text="Some Title"
                android:textSize="20sp"
                android:textStyle="bold"
                app:layout_constraintStart_toEndOf="@+id/ivAvatar"
                app:layout_constraintTop_toTopOf="parent" />
            <TextView
                android:id="@+id/tvDate"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:layout_marginTop="4dp"
                android:textColor="?android:textColorSecondary"
                android:textSize="12sp"
                app:layout_constraintStart_toStartOf="@+id/tvTitle"
                app:layout_constraintTop_toBottomOf="@id/tvTitle"
                tools:text="Tuesday 7pm" />
            <TextView
                android:id="@+id/tvBody"
                android:layout_width="0dp"
                android:layout_height="wrap_content"
                android:layout_marginTop="8dp"
                android:layout_marginEnd="16dp"
                android:ellipsize="end"
                android:lines="1"
                android:text="@string/bacon_ipsum_short"
                android:textSize="16sp"
                app:layout_constraintEnd_toEndOf="parent"
                app:layout_constraintStart_toStartOf="@+id/ivAvatar"
                app:layout_constraintTop_toBottomOf="@id/tvDate" />
            <androidx.recyclerview.widget.RecyclerView
                android:id="@+id/recyclerView"
                android:layout_width="match_parent"
                android:layout_height="wrap_content"
                android:layout_marginStart="16dp"
                android:layout_marginTop="16dp"
                android:layout_marginEnd="16dp"
                android:orientation="horizontal"
                android:overScrollMode="never"
                android:visibility="gone"
                app:layoutManager="androidx.recyclerview.widget.LinearLayoutManager"
                app:layout_constraintBottom_toBottomOf="parent"
                app:layout_constraintEnd_toEndOf="parent"
                app:layout_constraintStart_toStartOf="parent"
                app:layout_constraintTop_toBottomOf="@id/tvBody"
                tools:listitem="@layout/item_image_destination" />
        </androidx.constraintlayout.widget.ConstraintLayout>
    </com.google.android.material.card.MaterialCardView>
</layout>
And set up visibility of items to collapse or expand
private fun setUpExpandedStatus() {
    if (isExpanded) {
        binding.recyclerView.visibility = View.VISIBLE
        binding.ivExpand.rotationX = 180f
    } else {
        binding.recyclerView.visibility = View.GONE
        binding.ivExpand.rotationX = 0f
    }
}
And start transition with
   val transition = TransitionInflater.from(itemView.context)
            .inflateTransition(R.transition.icon_expand_toggle)
  TransitionManager.beginDelayedTransition(parent, transition)
  isExpanded = !isExpanded
        
  setUpExpandedStatus()
I created animation and transitions samples including the one on the gif, you can check them out there.