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I'm afraid this would not be possible on the Home app. However, if you are using a Google Nest display, you will be able to stream it there. You might want to check this link for your reference: https://goo.gle/3KhFRBo
Feel free to respond to this thread if you have additional questions and I'd be happy to answer it for you.
In fact, all new Arlo Baby cameras that haven't been linked to an Arlo login my account can be quickly configured using an iOS device, Apple HomeKit, or the Arlo app.
Also, keep in mind that if you own a new Arlo Baby security camera that hasn't been listed yet, it is suggested that you follow the simple configuration procedure for getting your Arlo camera up and running.