You are partially correct… timeline video can only be recorded or transferred by removing the card from the camera. That is the topic of this #roadmap post, so please VOTE for it (button at the top of the page).
Time lapse video can, though, be downloaded. However, you have to be on the same local wifi network. Once your phone is on the same local wifi as the camera, you should be able to download the time lapse to your phone. See the Time Lapse section here: