First of all, you must instead of GLES31.glTexImage2D create immutable texture to be able a compute shader to write on it:

    GLES31.glTexStorage2D(
        GLES31.GL_TEXTURE_2D,
        1,                       // 1 level
        GLES31.GL_RGBA32F,
        1,                       // Texture width
        1,                       // Texture height
    )

Secondly, referring to this answer https://stackoverflow.com/a/53993894/7167920 ES version of OpenGL does not support using texture image data directly, you should use FrameBuffer.

Initialize it when you init:

frameBuffers = IntArray(1)
GLES20.glGenFramebuffers(1, frameBuffers, 0)

And here the working code of readAndLogPixelFromTexture():

checkGLError { GLES31.glBindFramebuffer(GLES31.GL_FRAMEBUFFER, frameBuffers[0]) }
checkGLError {
        GLES31.glFramebufferTexture2D(
            GLES31.GL_FRAMEBUFFER,
            GLES31.GL_COLOR_ATTACHMENT0,
            GLES31.GL_TEXTURE_2D,
            textures[texture],
            0
        )
    }
if (GLES31.glCheckFramebufferStatus(GLES31.GL_FRAMEBUFFER) != GLES31.GL_FRAMEBUFFER_COMPLETE) {
   throw RuntimeException("Framebuffer is not complete")
}
val pixelData = FloatArray(4)
GLES31.glReadPixels(pixel.first, pixel.second, 1, 1, GLES31.GL_RGBA, GLES31.GL_FLOAT, FloatBuffer.wrap(pixelData))
checkGLError { GLES31.glBindFramebuffer(GLES31.GL_FRAMEBUFFER, 0) }

// Log the color value to verify it
val r = pixelData[0]
val g = pixelData[1]
val b = pixelData[2]
val a = pixelData[3]
Log.d(TAG, "Compute shader result: R: $r, G: $g, B: $b, A: $a")