Quiete simple actually:
go to the Scrypted admin page, and go to you camera details. Select the stream you want to pull into HA (i use stream_Profille000 - but you can use another one (a lower resolution)). At the botom you will find a link to the rebroadcast stream.
Then simply add a new camera integration in HomeAssistant (generic camera) and use that link as the source (pay attention, the first field is the source for still images, so enter the stream link in the second filed).
Works out of the box for me