Can Aqara connect to Xiaomi?

Could you clarify whether Aqara devices are compatible with Xiaomi's ecosystem and if they can seamlessly connect to one another? I'm particularly interested in understanding if Aqara's smart home products, such as sensors, switches, and hubs, can integrate with Xiaomi's smart home platform, allowing for a unified control experience across all devices. Are there any specific steps or requirements needed to establish this connection, or is it a straightforward process? Additionally, are there any limitations or restrictions to consider when using Aqara products with Xiaomi's systems?