HA will pick up cameras from ZoneMinder automaticaly but if ZM is unavailable when HA starts up, it will complain it that it couldn’t set up the component and it will then stay unavailable until HA is restarted.
Ideally HA generally or at least individual components can be configured to retry set-up if it failed so that the following would work:
a) ZM is down
b) HA is restarted
c) HA fails to configure the ZM component
d) ZM comes up
e) HA detects that ZM is up (or simply tries again on a timer with exponential backoff) and configures the component(s)