Aqara Motion Sensor - not using zigbee routers?

You don’t have to, but several users here reported a “worth the pain and effort”.
Zigbee was rewritten in fw v5.0.0, but only gets activated by a zigbee reset.

Yes, all zigbee devices get lost, you’ll have to pair all zigbee devices again and repair all related flows.

Hint: if you install Flow Checker prior to the reset, you’ll get informed about all the flows that “break” after the reset.

If you use Flow Checker app here (Homey Developer Tools) on a laptop,

you can open the listed flows at once in the web app, https://my.homey.app.
And, if you use the web app, you can quite easy replace the zigbee device flow cards.

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