It’s not thread-based matter to the vacuum directly, but matter over wifi using their Hub 2 as a bridge, but I just tested and it works! The vacuum shows up as a binary OnOff plug, toggling it on starts a cleaning session, and off cancels the session and returns the unit to base.
I should note, I had to update my Hub 2 firmware to V2.0-1.2, which also adds the ability to swap out the temperature and humidity sensors to other devices for being a matter bridge, which is nice.