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The eero and eero Pro Wi-Fi routers received a software update today that appears to include support for Apple HomeKit.
After installing eeroOS v3.18.0-950 users are reporting that their eero devices are showing up in the Home app. Unfortunately, a HomeKit accessory code is needed to complete setup and that code isn't available yet.
An eero developer hinted at the new feature in a post on reddit this afternoon:

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