I have Frigate with a TPU, that is connected to Home Assistant.
As soon as we leave the house (and HA detects us outside of “home") it enables recording and motion detection on Frigate.
A blueprint for frigate allows to send notification on motion detection.

It’s a simple but frustrating setup to put in place (thanks to Coral USB TPU lacking proper docs / updates) but now it works nicely.

You don’t need Frigate+ but you could do a 1-shot buy to get enhanced detection models (my cats are often detected as persons and triggers false warning, FG+ should help)