I just got a Shark XL vacuum which mostly works without its app and cloud, you just push its Clean button and it goes off and comes back to dock when it's done. But if you want schedule and mapping, you're stuck. There is a Home Assistant integration for it, but that just talks to their cloud (not well). Interestingly, that cloud saas is shared among a number of vacuum makers so it's not open, but it there's always hoping.