You might be interested in this project https://valetudo.cloud/

They have a list of supported vacuums

Valetudo is the best out there. I rooted my Roborock, and connected it my home assistant. It's super useful without having to send data to the cloud. The only thing is the developers are severely limited by how many vacuums they can support. I recently bought a Dreame X50 and it's still not supported.