As a user of Valetudo for 4+ years now, I can say that it's a wonderful Software once you get it running once. Depending on your vacuum model it's easier or more complicated.
I bought a used Z10 Pro 4 years ago and with a UART-to-USB I could order from ali-express I rooted it effortlessly. Valetudo got many cool updates over the years and was always reliable for me. Not once did I have to re-root or something because the Software bricked itself or whatever.
The updates were beautifully done and simply done in the UI. And I'm very happy that the Home Assistant integration worked great as well.
Personally I couldn't buy a Vacuum robot anymore without Valetudo. Having a remote controllable camera and probably even microphone in some models in my home seems insane.
The Defcon talks from Dennis Giese confirmed that some manufacturers literally send every log line to their cloud server and there was already some bigger mainstream drama of vacuum pictures ending up on facebook somehow a few years ago.