I am currently installing cameras and it's difficult because I can't mount it on the house facing out.
That said, as far as I remember legality of this approach was "undecided" in a few places
The problem is using a camera to monitor people. It doesn't matter if the camera is only a live video feed to a TV screen, or you save the files to disk, or you run frames through a script without saving to disk.
Dash cams are also in practice not allowed for the same reasons (license plates, peoples faces).
Even worse, you have a camera that actually have front side and back side, and you can film with back side and always use plausible deniability and say you were on a video call using your smart camera and not filming around.
If you have a camera pointed mostly at your property, but some public land is visible, then I think you can avoid becoming a data controller, and all the complications that accompany that, by masking out that part of the image before the data is recorded. But please check before proceeding.
The law is complicated and keeps changing and I'm no expert. Everything I've written is really just an example of the sort of the rules that may exist and you might have to worry about: perhaps interesting for someone who lives in a jurisdiction where the rules are much simpler.
If something is viewable to the public, I can record all day and film everyone's number plates as I am not a business and don't need permission so I am not a data controller. If the people I am recording do not like that, they can feel free to use private roads only (which are not viewable from a public place) or not have a vehicle and problem solved. The onus is on them.
As you say though, there are many specific's such as filming from public to within a private dwelling and causing distress. etc