Actually only if you have a newer house (~2009 or newer) that has neutral wiring. Many older homes do not have the neutral wiring required for smart light switches, not sure what wiring is needed for smart outlets.
Any grounded outlet will work. Technically an ungrounded outlet would work, but it'd be a safety risk and would not meet code. At some point, I imagine smart GFCI outlets will come out, but I don't think any homekit ones exist.
Switches are a little more difficult. There are some that don't require a neutral like the Lutron Caseta Dimmer. However, houses much further back than 2009 have a neutral wire. Mostly because it didn't make sense to run a wire that didn't have one when the rest of the home's receptacles all had 3 wire romex. It was only officially code in 2011.
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