A lot of you won’t want to hear it but HomeKit + iCloud secure video is the only way to go. For one thing it’s end to end encrypted. You can also do ML stuff like face recognition which happens locally on your Apple TV. And you can set it to trigger HomeKit scenes if eg the person in the video isn’t recognized, or if it recognizes a particular person. Yeah Apple bad, blah blah. But they don’t have an incentive to sel…
Unless you explicitly enable Advanced Protection mode for all your devices, Apple stores your key in their servers and will give it to whoever legitimate looking asks for it. Aka ICE etc will definitely be granted access.
This is very easy though, you just go to your iCloud account settings under the settings app and enable it. It should be on by default imo, but I understand the argument for why it isn't.
Either way, enabling it is not a barrier and ICE cannot be granted access once you do unless you yourself give them that access.