I recently did a factory reset on my S5 and installed the new valetudo 2021.03 firmware on it. Everything went smoothly but the robot and HA wont talk to each other any more.
HA shows the device as unavailable. I integrated it via platform: xiaomi_miio.
The only thing i changed was the token which i extracted via rrcc. Everything else is exactly the same i did not touch a single config. The MQTT connection works as well and the robot reports its status to mosquitto.