I wouldn't say that soldering a pcb [0][1] yourself is beginner-friendly but I understand your argument. Some robots are unfortunately still very difficult to root (which is not valetudos fault), which makes getting started with the project very cumbersome.
I think beginner-friendly is kind of relative. Considering the end goal, you're tying to achieve (hack the robot to run your custom software), requiring a user to solder a relatively simple board is a very accessible requirement.
I might be fine with soldering. But it's a completely different skill than running the software to flash something, I can see how it would put people off.
[0] https://valetudo.cloud/pages/installation/dreame.html
[1] https://github.com/Hypfer/valetudo-dreameadapter