Is there any information available on how developers can implement the "Firmware Update Readiness" and/or "Firmware Update Status" characteristics in HomeKit?
What do you mean by "developer"? These characteristics are how the accessory integrates with Home.app to handle the firmware update process, so there isn't really anything an app can do with them.
Many consumer devices support this (showing an "update available" icon),
Keep in mind that the "Update Available" icon in Home.app can also be triggered by backend network data provided by the MFi program or the Matter update system, so the presence of that icon doesn't mean that the accessory is using the HomeKit firmware update process.
however, there appears to be nothing in the documentation about this characteristic,
Documentation on this is in the MFi HAP spec.
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Kevin Elliott
DTS Engineer, CoreOS/Hardware