Sensorless homing (mechanical limit instead of endstop switch)

Greetings to the community!

I have found this topic discussed briefly once, but I feel like this feature deserves it’s own separate thread.

Sensorless homing is a feature (I believe, mainly of Trinamic stepper motor drivers) allowing to home the axis without using endstop switches. The benefits are less parts, less wiring, and increased safety (the motor wouldn’t continuously crash into a wall if the endstop is not triggered for some reason).

My question is: how hard would it be to add support for sensorless homing to ODrive firmware? To me it seems like a trivial task, but I don’t have the hardware at the moment, and have absolutely zero experience with ODrive. I would like to hear opinions from other members of the community who are more experienced than me.