If you are looking for an all in one solution that will work for most setups, the Shelly 1 is a great option. It’s wifi, so no extra hubs needed. Has full local control with a web interface and optional mobile app with (cloud based) control from anywhere. It can switch ac or dc and has a set of dry contacts that you can connect an external switch or sensor to. Another cool feature is a fallback WiFi connection. If it loses connection to your WiFi, it can broadcast its own network for you to connect to. It’s also only around $15-$20. I used one on my driveway gate for a few years and it worked great. The relay would activate the gate opener and I had a cheap reed switch wired into the dry contacts to tell me if the gate was opened or closed.

Your probably better off with a ratgdo for the controler hardware and home assistant if you want an app on your phone.