Improve vacuum when walking dog automation

As it says in the title, I already have an automation which starts my robot vacuum when I’m taking the dog out for a walk:

  • I have a shortcut set up on my iPhone that updates home assistant sensors when it detects me leaving/arriving
  • I have a tile tracker on my dogs leash
  • Automation triggers when both I and the tile tracker are away

However there are a few problems with this:

  • I can’t connect the tile directly to HA, it has to go through my phone
  • It requires an automation shortcut on my iPhone and I’d rather only use home assistant.
  • The iPhone shortcut sends an annoying notification every time it’s triggered, there is no way to turn this off
  • The arrive/leave triggers on iPhone are not very accurate, sometimes I’ll just do a 20 minute walk, which is just enough time for the vacuum to run, but only if it starts right after I leave

Does anyone have ideas to improve this? I feel like there should be a much simpler way… All I really need is an accurate way to sense that both me and my dog have left the house.

I’ve looked for other Bluetooth tags/trackers that could connect directly to home assistant but I haven’t been able to find any that would work better than the tile (Im in the Netherlands btw)

Thanks in advance!