I’ve been lurking for a couple weeks hoping there would be a quick resolution but no dice. Looks like the mDNS is misbehaving on the Rachio. If you look at all the other devices, they respond to mDNS requests almost instantly. The Rachio takes nearly 30 seconds longer to respond and then goes back and forth with Add/Remove.
Macsterguy, are you able to run this command on your Mac to see whether yours gets added right away?