The warning you're seeing is just a warning, nothing more. MP4 files aren't streamable anyway in most cases, in the sense that you would be able to pass the written MP4 over a pipe and have the other end play it back (unless you resort to a lot of extra trickery, or use fragmented MP4 which the android MP4 muxer doesn't write normally). What streamable means here is that once you have the final MP4 file, you can start playing it back without having to seek to the end of the file (which playback over HTTP can do e.g. with HTTP byte range requests).
To write a streamable MP4, the muxer tries to guess how large your file will be, and reserves a correspondingly large area at the start of the file to write the file index to. If the file turns out to be larger so the index doesn't fit into the reserved area, it needs to be written at the end of the file. See lines 506-519 in https://android.googlesource.com/platform/frameworks/av/+/lollipop-release/media/libstagefright/MPEG4Writer.cpp for more info about this guess. Basically the guess seems to boil down to: "The default MAX _MOOV_BOX_SIZE value is based on about 3 minute video recording with a bit rate about 3 Mbps, because statistics also show that most of the video captured are going to be less than 3 minutes."
If you want to turn such a non-streamable MP4 file into a streamable one, you can use the qt-faststart tool from libav/ffmpeg, which just reorders the blocks in the file.
