Find other devices at home

Im still new to Home Assistant.
Im using HA supervisor on my Raspberry Pi 4 and i wish i could find my other local devices at home.

I also have another Raspberry Pi 4 that i have my sense hats and other things on and my PC with Windows 10 on.
I have alot of things i use that has access to wifi and have its own ip adresses.

Is there any way i can autodetec those so my HA supervisor can find those devices.
I have try tracking devices and try many integrations but no succes at all.

Hope some kind person mabey can help me.
I want my HA supervisor to detect my other devices that has other ip adresses and how i can detect those to my HA supervisor in easiest way.