I'll grant that the ones using RGB cameras for SLAM have potential for exfiltrating information, but floor plans are literally public record. What value could that possibly have?
That lets you build a dataset of these numbers correlated with all the other things Amazon knows about you. Then target you for ads.
Maybe, it notices that your coffee table is smaller than average than other similar people/apartments. They also know you have previously bought dark colored fake wood furniture before. So they advertise dark colored coffee tables to you, in the price range you would be able to afford.
Even where they are public record, there are often limits. San Francisco limits you to six requests per day, costs $0.10 per page, and must be applied in person or via mail.