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.
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
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.
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.
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.
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.
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. :(