The record
In a post dated April 6, 2024, a user says that over two days they heard Siri on their kitchen HomePod mini offer help several times while the room was empty and quiet. The Home app showed the speaker on software 17.4, and their other devices were up to date. They planned to reset the HomePod and asked whether anyone else had seen the same thing. This describes a single speaker in one home.
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A documented user report, not an independently reproduced test or an estimate of how often the problem occurs.