You're in luck! 2023 is Home Assistant's "year of voice" in which lots of development is being focused on a functional voice assistant that is run locally. Some links to what is available and what is in the works:
It's a lot of DIY still as there still isn't much of a market for voice assistant hardware that isn't already part of an existing platform (Google home, Alexa, Sonos, Siri, etc). There is much more out there but these should get you started.
This is fantastic news. I’m currently using HomeKit + Homebridge for all my smarthome stuff but I have HA Core running on a Proxmox host in the event I need/want to migrate. Apple continues to let me down year after year with their minimal Home updates but convincing my family to switch is a hurdle I’m not ready to tackle yet.
I keep meaning to deploy it but have yet to get around to it. It's the only thing I've found that's good for total local voice control and somewhat polished.
There are also pretty pretty nifty microphone array pi hats or USB versions.
A little pricey still for arrays of more than 4 but there are some pretty cheap two microphone voice hats that will work well enough on a desk or counter.