We ended up going with the ZED 2i from Stereolabs (https://www.stereolabs.com/products/zed-2). They work pretty well, my only issue was that their skeletal tracking doesn’t work well if you mount them vertically (which is probably a big ask, the other features do work in vertical orientation though, which was good).
Stereolabs was pretty active on the software side of things, pushing updates pretty regularly. They’d usually fix a bug within a sprint or two. The hardware is pretty simple, and I find it unsurprising that they’re still selling the ZED 2i at the same price as 4 years ago. It gets the job done, and most of the advancement in the past few years has probably come from throwing more sophisticated AI at the existing stereo video feed.