would be awesome.
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Bumping this in hopes of someone able to reply. I see my Airpods Pro via iCloud - Would love to be able to see location and battery percentage of these in HA.
I don’t think this is possible sadly. I don’t see any interface Apple provides to allow app developers to access that info 
What is it you are wanting to achieve?
Have you looked at using Shortcuts and webooks? I use them extensively as a bridge between iOS and HA and they work fine.