I've got a D9 running with Valetudo! It's fantastic! Not only am I not worried about privacy concerns, but it works with my HA seamlessly. Check out their list of supported vacuums.
I second Valetudo. I’m using it on a roborock S5 and installation was pretty straight forward. Even if it takes more effort to „root“ your vacuum it is definitely worth it. I also integrate my vacuum in HA over mqtt.
It's absurd how much better it makes the vacuums to use. Interaction through the Web UI is just instant, instead of having to bounce to servers halfway around the world before acting on it. It's the primary decider of which vacuum I consider now.
Thirding Valetudo, it's amazing. I even swapped out the default voice files with ones I wrote, then ran the new text through a GLaDOS voice generator.
I haven't dug into their policies or checked network traffic but I have a b0bsweep per hair slam and while I don't believe it works with HA it maps my main floor and I was able to block it from public egress and put it on my subnet with DNS capture and filtering to a pihole and it has never once complained. Open the app and change a setting or click go and it does it. Haven't tried adding it to HA yet because of that.
I'm looking at the Dreametech L10s Ultra, which got a very good review here and which is supported by Valetudo. I really want a local-only product, but I reviewed the rooting instructions on Valtudo's site and I don't think I can do it. I'd need to solder my own PCB which I've never done, and the section of the actual software rooting that gives me 160 seconds to do a bunch of stuff right the first time or I risk bricking my $1000 device, is very scary. :(
the hookup on YouTube has a lot of videos on these and he generally prefers local control devices so he will call out devices that work fully local etc.
homeassistant
Home Assistant is open source home automation that puts local control and privacy first. Powered by a worldwide community of tinkerers and DIY enthusiasts. Perfect to run on a Raspberry Pi or a local server. Available for free at home-assistant.io