Only the newer controllers that use https use the register_terminal command.
If it is only responding to http then it sounds like one of the older controllers which should be detected as a new device automatically by the standard component built into Home Assistant.
If it is not being detected by Home Assistant it should be possible to manually add it under Configuration > Integrations > + (in a circle at the bottom right) > Daikin AC.
The only detail you will need for the Configure Daikin AC page that pops up is the IP address which you have there as 192.168.86.41.
If that doesn’t work have a look at the sticker on the WIFI unit and let us know the model number, it should start with something like BRP. If its not the model I have I cant say Ill be able to get it to add but I can point you at the right place.