Best Thermostat for HA with no cloud... etc

I have tried multiple thermostats, and still not happy! Currently with the Sensi ones. There is limited HA integration.
I am after a decent Thermostat (US gas furnace, AC… 24v 5 wire…) that does not require the cloud to operate, integrates very nicely with HA.
I used to have the EcoBee… but even though I created full programming inside HA, if the cloud connection went down between my thermostats and their cloud, they were dead in the water.

Can anyone recommend one that does not need the cloud, good HA integration and is not trying to track you all the time…

I use the GoControl GC-TBZ48 Z-Wave thermostat without issue.