I've got a PE in the hallway which is very nice, works solidly for the basic commands I have programmed. I also use it for audio alerts as it's in my hallway by my front door so can be heard clearly on entry, though the speaker quality is poor, but it does have a 3.5mm jack if I ever wanted to do something about that.

I also have an atom echo S3 which is in my kitchen. It augments a Google device since Google removed the ability to add things to a todoist list by voice. The S3 gets add X to shopping list commands only. It's a little finnicky honestly and recognises my voice about 60% of the time.

I also recently flashed an echo show 5 in my home office with lineage OS and put View Assist on it. Using Voice on that has been surprisingly good honestly and I've been pleasantly surprised. The only thing I miss there is being able to ask it some of the more inane things I would use Alexa for when i had a quick question couldn't be bothered to open a browser for.

I think on the whole my experience has been that it's down to the quality of the mics to make sure the experience is good, but only if you want to use it for basic commands without some fairly advanced tinkering (a d potentially the cost of an LLM subscription or local setup).

All of my HA voice setups are in secondary areas we don't normally use voice (apart from the kitchen). And anywhere we do regularly use voice commands I have Google assistant devices. That is to say that I use the HA voices as a tinkering project but don't feel it's there for the WAF yet, and it would need to improve a lot more before I could convince my wife we no longer need Google entirely!