How can I connect an Xfinity Home door open sensor?

Unfortunately they use a different zigbee profile than SmartThings does and although they will pair, the two cannot talk to each other. It’s a private encryption. This is fairly common with security systems.

Smartthings uses the zigbee home automation profile (ZHA 1.2). So you need to look for devices which are certified for that specific profile , not just Zigbee.