Running the latest versions of HA, iOS, iPadOS and TVOS.
I have been able to advertise several of my Dahua cameras through the HomeKit integration. When I open the Home app on iOS, I can see the cameras and a snapshot that updates every (10s on WiFi, 60s on cellular).
When I tap on any of the camera icons, I see different results depending on the device. On my iPad, the blue dot beside the camera name turns red and I see a live image feed. This happens whether I’m local on WiFi or on cellular!
However, when I try the same thing on my iPhone (X), I eventually see a message saying “No Response. This camera is not responding.”
I ended up solving this be creating a second homekit integration in configuration.yaml for just the camera. It now seems to work on my iPhone and Apple TV. My configuration has the same content as shown in the post with specific settings for my camera. It also seems that homekit does not like 1080P content so I had to use the 576x1024 camera stream.