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Yeah, I am running the GRX RD-RX810 on an 11-40 cassette although it's rated for a 11-34 (same for the RD7000).
That video is of a 1x setup though, you see how the chain tensioner goes from fully nested to fully deployed on that cassette? No room left for a 2x like @hippy "needs"
GRX mech with 11 sp 11-51 on Instagram
Shimano always conservative on mech range
Goat link a bit cheaper obvs