If you run your own DNS resolver for your local network, you can use a Discovery Proxy (RFC 8766) to allow unicast DNS resolution of multicast DNS records. I'm using mdns-discovery-proxy[0] (slightly modified to support a newer version of the zeroconf Python library) with bind9 so that xyz.local is mirrored in unicast DNS as xyz.home.arpa. The script (proxy.py in Git; I renamed it) is run with this systemd service (/etc/systemd/system/mdns-discovery-proxy.service):

  [Unit]
  Description=DNS-SD Proxy
  After=network.target network.service

  [Service]
  Type=simple
  DynamicUser=yes
  ExecStart=/usr/local/bin/mdns-discovery-proxy.py home.arpa 35353
  Restart=always
  RestartSec=30

  [Install]
  WantedBy=multi-user.target

And the bind9 configuration to forward the zone is (in /etc/bind/named.conf.local):

  zone "home.arpa" {
    type forward;
    forward only;
    forwarders { 127.0.0.1 port 35353; };
  };

[0] https://github.com/nybble41/mdns-discovery-proxy