Earlier quoted context omitted.
Your best bet would be to check which models are supported by Valetudo, which is a local-only firmware replacement: https://valetudo.cloud/ and https://github.com/Hypfer/Valetudo
valetudo is just a hack, not a firmware replacement, and could be blocked by a firmware update from the OEM plus it can void your warranty
I wouldn't consider it a hack. It's an alternative way to run your vacuum, with yes potentially less features if the OEM makes a lot of future updates, but Valetudo also comes with their own set of updates.
[1] https://valetudo.cloud/pages/usage/firmware-updates.html