I just started on the Omnipod 5 about a week ago. I received my started kit and it came with a PDM. It's basically a smartphone using an Android system where the Omnipod 5 app is the main interface. So because my Android-based phone is yet to be "compatible", I now carry basically 2 smartphones.
I also have the Dexcom G6. The pods and the CGM seem to work flawlessly together for me. From what I've read in official documentation, the pods and the G6 are supposed to work together even when you PDM/app is out of range. That appears to be the case from what I've experienced so far, though you will need the PDM or phone app to be able to manually bolus. I've been on auto mode since day 1 and I'm definitely happier about it than I was with my Medtronic 770G. Hope this helps some!