Yes it does, I know it does because I wrote much of the official ZHA docs (as well as some community guides on this topic).
It does not use the phrase âhigh desityâ but it does use other words to that effect that means the same thing; (add more Zigbee Router devices to get better range and coverage).
While official ZHA integration is not as fleshed out as my detailed community guide, the official ZHA docs does still contain plenty of information on how important it is to have many Zigbee Router devices and how adding them is key to getting good range and covarage, (just search for the keyword ârouterâ in the official docs). It is in fact mentioned in several sections, including the beginning where it summerize âZigbee conceptsâ and the section that only talks about routers:
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https://www.home-assistant.io/integrations/zha/#zigbee-concepts
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https://www.home-assistant.io/integrations/zha/#using-router-devices-to-add-more-devices
Zigbee does in fact have weak low-power signals with very poor wall penetration so it depends heavily on its mesh networking to propegate the messages within a Zigbee network mesh built out of Zigbee Router devices. So suggest to take this advice instead of agruing why you do not want to follow the best-practice recommendations.