https://www.theguardian.com/technology/2016/jun/22/mark-zuck...
I 3d printed a flap for my webcam.
The manufacturer might access it, Apple states they don't, Google and Samsung I'm not sure. A bad actor with 0days might too.
It does seem harder to tape the phone camera since the in/out motion into your pocket I imagine would remove the tape.
For the front camera that's a lot more difficult. You could probably modify one of those flexible screen protectors to black out the camera, but it'd be very inconvenient to take off.
Maybe there is some niche android phone that offers physical shutters, similar to the ones on Lenovo laptop webcams