As someone else said, Valetudo may be the answer. Lots of compatible robots are on sale. I got a compatible MOVA one a few months ago and flashed it. Works super well and gives almost all of the features of their original cloud. It’s on a separate vlan and eventually I’ll add it to home assistant once I have it set up again.

It also works without and internet connection or map. I can just put it into a new area, push a button and it does a vacuum then mop clean. Super happy with it.