You have free access to see who’s on your Wi-Fi if you’re using a Mac. You know somebody is connected without your permission if you see devices that you don’t recognize.
Read through the list to make sure you recognize everything. You might see devices from Apple and Amazon Technologies, for example, if you’re using an iPhone and Amazon Echo. You should be able to recognize the connected devices. As soon as you boot up Wireless Network Watcher, you’ll see all the detected devices come up on the list.