Sounds like you trust iOS sandboxing. I have my suspicions it’s not perfect, so how big of a deal it is depends on your threat model. If I’m on iOS I tend to manually enable the camera if I ever need it, and I also avoid using apps when possible.
If I needed to use an app daily that requires camera access, I might change my habit because that sounds like a lot of work.
For what it’s worth, I believe Tailscale on the Apple TV blocks IPv6. In fact, if you activate Tailscale on your HomeKit Hub, it has the side effect of all thread devices no longer responding until you disconnect from Tailscale and reboot the Apple TV. It’s a major pain in the ass for my small HomeKit / Thread setup.
Here’s the corresponding bug report on GitHub.