Cannot connect Voice Preview because "Make sure the device’s YAML configuration includes an `api` section"

I am trying to migrate my home assistant voice from one wifi network to another. The underlying ip network is the same, I’m just changing the wifi credentials

As was recommended in the forums, I did a factory reset and reran the initial setup

After resetting, I successfully connected the voice preview to the new wifi network via the ha companion app. But, when I go to add it via the esphome integration in home assistant, I get the error “Unable to connect to the ESPHome device. Make sure the device’s YAML configuration includes an api section.”

The ip address in the screenshot matches the ip address reported by my router, and the router shows the device as online. I get the same error whether I do it as part of the wifi setup process or via HA’s autodiscovery. I also tried updating the firmware, which had no effect

Just in case it matters, I am running a standard eero network with no subnets, isolation, firewall rules, etc

While I know yaml, I did not have to use it for initial setup the first time, so it doesn’t seem like it should be necessary now

Does anyone know what might be going on here?