Intercom settings don't exist

AnnieL2,

Yes, in order to set up Intercom, you would need a HomePod or HomePod mini:

Set up Intercom

To use Intercom, update your HomePod mini or HomePod speakers to the latest software. Then check that every device that you want to send and receive Intercom messages from—your iPhone, iPad, iPod touch, or Apple Watch—is up to date. After you update, Intercom will be turned on automatically. 

Use HomePod mini or HomePod as an intercom - Apple Support

If you'd like to provide feedback regarding this feature, you can do so here:

Product Feedback - Apple

Have a great day!

Greetings kremar1, 

You found just the right article, Use HomePod mini or HomePod as an intercom

Have you attempted to send an Intercom message? Do you have all your Home devices (Home Pod(s), iOS, iPadOS, macOS, watchOS devices) updated to the latest available operating system version? 

Thanks.