Following ALL the tips here SHOULD very likley resolve most issues or at the very least rule out other common issues → Zigbee networks: how to guide for avoiding interference and optimize for getting better range + coverage
The exception is if really if you have one or more bad Zigbee Router with buggy firmware that is not passing along all messages correctly, if that is the root cause then you need open a new issue to Home Assistant core repository on GitHub and provide debug logs for diagnosics analysis to get help determen which is the bad Zigbee Router device(s) → https://www.home-assistant.io/integrations/zha#reporting-issues