"Freely" if you enable the setting as the user posted above.
with 0 auth or verification
The verification still needs one of the devices listed in my post to be active on your wifi to allow the setup and communication.
The auth is likely done by device to device handshake. Its just that there isn't a human involved.
Don't get me wrong I hate Amazon as much as anyone and would never have one of their devices in my home.
But most of the other posts in this thread are missing the technical aspect of the question.