I understand the concern very well and I am also very sensitive about the issue. The good thing about the product is that, by default, the pictures that are taken do not leave the device. This is certified by Tüv Süd. A certification body that also certifies ISO 72001, for example. So they know their stuff (if you believe in certificates).
In principle, the object recognition works on-device and afterwards the images are deleted again unless you want to see the objects/images that were recognised.

It's a question of risk appetite. I appreciate that the company has set a data-saving default, but gives you the option to allow more, depending on your risk appetite. The combination with Tüv Süd convinced me.

In principle, you will always disclose data about yourself with such a system, even if it is only the floor plan of your flat. But you have to decide for yourself whether you want this or not. Depending on the result of the vacuuming, it will be better or not.

No, the camera is there precisely to recognise objects and to move around them. The objects are recognised and categorised by AI. This makes it possible, for example, to bypass cat excrement so that it does not have to be swept through the entire flat as with earlier hoovers.