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What is the whole hub bub, bub?

What is the whole hub bub, bub?

Does anyone know and, if so, can share their wisdom about the HomeKit hub situation? I have two mini HomePods and two regular HomePods. I also have two 4K Apple TVs. Why does the HomeKit hub change so often? What is the algorithm? And should they work together? For some reason, I choose my HomePod mini daughters, who are in the corner of the house, and I notice that when I don’t choose a central location, I sometimes get no response and other problems. While when choosing a central location hub, I generally have no problems. I’m just curious how the hub is chosen and does it matter which hub is connected?