That did it. I updated my automation for starting the homekit component to start 1 minute after the z-wave network came up:
- id: "homekit-starter"
alias: 'Start HomeKit'
trigger:
- platform: event
event_type: zwave.network_ready
action:
- delay: 00:01
- service: homekit.start
Now all the Homekit devices added to HA show up in the Home app. Thanks!