I don't think MacRumors is talking about a network drive that is connected to a USB port on a router.
The point that I'm trying to make is that if the drive is formatted in Mac OS Extended (Journaled), Time Machine will automatically re-format the drive in APFS if that is what Time Machine wants to use. This would be the case for newer operating systems like Big Sur, Monterey and Ventura with drives that are connected directly to the Mac.
That is why you were surprised to find out that your Seagate drive was really formatted in APFS when you originally formatted in Mac OS Extended (Journaled). You connected the drive directly to your Mac and Time Machine reformatted it without you knowing about it
Example.......I formatted a new hard drive in Mac OS Extended Journaled a few years ago to connect directly to my wife's iMac running Big Sur. Time Machine automatically reformatted the drive in APFS when I ran the first backup.
But......There is no way that Asus can offer support at the USB port of their routers for a drive that is formatted APFS. The only way that a hard drive can work at the USB port of an Asus......whether it is using Time Machine or not......is if the drive is formatted in Mac OS Extended (Journaled).
The short story........format the hard drive in Mac OS Extended (Journaled), no matter whether it will be connected directly to a Mac or to the USB port on a supported router.
Time Machine will automatically take care of the rest and format the drive connected directly to the Mac in APFS. If the drive is formatted Mac OS Extended (Journaled) and connected to the USB port on a router, Time Machine will leave that format alone......because the USB port cannot support drives formatted in APFS.
If you want to connect the drive to the USB port on the Asus router....or any other router for that matter that claims to support Time Machine......the drive must be formatted in Mac OS Extended (Journaled).
If you do format the drive in APFS and connect to the USB port on the Asus router, I can guarantee that the Asus router will never "see" the drive.
What we need is a user to post and tell us that they have set up Time Machine backups to drive at the USB port on the Asus router and things are working fine. That will confirm that the Asus router really does offer up to date support for Time Machine.
All that I can do is confirm that the Synology router fully supports Time Machine. I cannot say whether Asus is making a claim that they cannot deliver on. At some point, Asus Support is going to need to step up and offer some real help to make good on their claims.
I don't think you are going to find much help for an Asus router on a support site for Apple routers.