Alexa drop in-like function on HomePod?

Hi -

We are switching our home from Amazon Echo to HomePods. But I’m unclear on whether the function we used the most on Echo - Drop In - has a similar counterpart in Apple. I’m not finding a way to open up what (on Echo) is a fully open 2-way channel between devices. We often had brief, but 3-5 sentence interactions on Echo that have a nuisance on HomePods (with the need some “Hey Siri…” alert for each utterance.

Am I missing something? If not, is there a thread somewhere I can chime in on that Apple is monitoring to assess support for this kind of feature?