I suspect that even in SFR zoned areas where ADUs are not typical, a residential addition which provided potential access to the main portion of the house, and also which had a separate entrance could slink by as a SFR with its residential addition occupied by a "roommate". Some municipalities have a limit of the number of unrelated ppl who can live in one SFR as "roommates", but it occurs to me that would be a way to gain passive income for the homeowner.
I have seen some interesting new developments out here which were laid out in such a way that 2 rooms with bath and 'kitchenette' with sink, under-counter fridge, microwave and hot plate, had its own outside entrance, and was connected through a hallway (locked) door leading to the main part of the house. Builder was touting it as 'multi-generational living', and the floorplan certainly had many advantages for the 'seasons' of one's life. A place for young or 'mature' ppl to have privacy and small living space at an affordable price, with the main family using the rest of the house, or expanding into that multi-generational area when the family needed all the space (so didn't have to move to a larger residence to get more square footage). I thought it was a remarkably practical solution to many housing challenges of the old, young, and in-betweeners. Those houses were selling in the $700s as new construction, and I'll bet the $1200-$1500 current potential rent for that space would be a great help to the homeowner.