Zwift has just announced that they have added Direct Connect Support for Wahoo. This is a feature request from over a year back when the direct connect was first released, so many Zwifters are loving that it was finally released. This update does not require a game update, as it is a client based change. Once you log on and have this set up, you will be able to access this feature.
Currently iOS, Apple TV, Android, and Mac have access to this feature, PC will be added in a later update. I am not super familiar with this feature as I don’t own a Wahoo Kickr, so for a in depth article, head over to Zwift Insider: https://zwiftinsider.com/wahoo-direct-connect-released/