Baby monitor?

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Is there such thing as a baby monitor I can see video from my phone while I’m away, but audio as well when I’m home (like with a handheld something, not through my phone)?? Also, baby naps on one floor of the house but nursery is on another floor. I’m good with just video in the nursery, but would like to be able to get audio from more than one location. I feel like everything I see is either audio only, video only with a separate video monitor, or video on phone. Or am I missing something? Thank you!