IP addresses must be accessible from the internet, so still no way to support TLS for LAN devices without manual setup or angering security researchers.
Arguably setting up letsencrypt is "manual setup". What you can do is run a split-horizon DNS setup inside your LAN on an internet-routable tld, and then run a CA for internal devices. That gives all your internal hosts their own hostname.sub.domain.tld name with HTTPS.
Frankly: it's not that much more work, and it's easier than remembering IP addresses anyway.