Let $G$ be a Hopf algebra object in a stable $\infty$-category $(C,\wedge, S)$ which is dualizable as an object of $C$. Then $G = S^{ ad G} \wedge G^\vee$ for some $\wedge$-invertible $L$. Rognes
shows this in a certain context with $S^{ad G} = G^{hG}$. Moreover, there's a certain canonical map $S^{ad G} \to S$; if this map is an isomorphism (or more generally if $S^{ad G} = S$, then $G$ is self-dual.