Hi and welcome.
If you integrate the G410 with Apple Home using HomeKit, you only get the camera, the doorbell, and the motion sensor that analyses the camera images.
You do not have access to the mmWave. As the options in the Apple Home app are limited, it is not possible to set a delay. So, that turning off the light would not be detected. You can receive activity notifications in Apple Home when “Peope Are Detected”, but this cannot be used in automations. With Apple Home alone, you have no options.
However, if you still have an Aqara Hub, you can use Advanced Matter Bridging/Matter Signals to pass on other detections, such as “unknown face” or “linger detected”, to Apple Home.
This post is about Home Assistant, but in principle, it also works with Apple Home:
But be warned: if you connect the G410 to Apple Home via both Matter and HomeKit, all Zigbee devices you added to the G410 will appear twice in the Apple Home app.