What ended up being the problem on our end was that location services were turned off for the Home app. We went to Settings/Privacy/Location Services and scrolled down to Home. For some reason, it was set to off. Once we changed it to “While Using the App” and went back to the Home app/Home icon/Home Settings, then Intercom, we had more options other than never.
Hopefully, this works for you. Best wishes on the fix.