OS X Reminders doesn't sync with my Google Account although Calendar and Mails work OK.
How to sync OS X Reminders with Google (or GTask Android App) to have it Android device?
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There is an app called Reminder For iCloud on Google Play, which I believe can meet your need. It can sync reminders of iCloud.
Here is what you need, iCloud Reminder Sync I developed it, If you have any question, just ask me