Indeed, I think this is a limitation of Homekit/Google Home, which is annoying. As you and I experienced, the Apple Home “guest mode” is limited to security devices, which is completely bonkers, which is why I’m probably going to be using the Home Assistant app as the main interface, even for non-technical houseguests/mates. This has the added bonus of being cross-platform, so it doesn’t leave out Android users.
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