That is incorrect. Around 40% of fields are used to grow food for livestock, as well as a quarter of fish caught being fed to animals. I found this article saying we could slightly increase byproduct use for feed, but they are minor improvements. https://www.nature.com/articles/s43016-022-00589-6
We then analysed the potential of replacing food-competing feedstuff—here cereals, whole fish, vegetable oils and pulses that account for 15% of total feed use—with food system by-products and residues.
a distinct minority of animal feed competes with human food
That is incorrect. Around 40% of fields are used to grow food for livestock, as well as a quarter of fish caught being fed to animals. I found this article saying we could slightly increase byproduct use for feed, but they are minor improvements. https://www.nature.com/articles/s43016-022-00589-6
from the abstract
a distinct minority of animal feed competes with human food