Please have a look at https://valetudo.cloud/
Free your vacuum from the cloud
Valetudo is an opinionated software solution for cloud-free vacuum robots installed on thousands of robots.
Since it was started in 2018, it has matured to a reliable fire-and-forget solution that just works.
Quite complex flashing, but without any cloud.
https://maticrobots.com/ is from former Google engineers. Please stay away.