Comment by dm_me_dogs

HomeKit-over-Thread and Matter-over-Thread has been pretty okay in my experience, using HomePods and an Apple TV 4K as the border routers. I'm using Home Assistant, and the HomePods control everything nicely. Setup is a little weird (you have to set up your devices in HomeKit first, remove and then add again in Home Assistant without resetting) but they work great. My only complaint is that HomePod Software and tvOS updates tend to bork the devices until I reboot HA, but that takes 10 ish seconds so not a big deal.