[pjsg]

MQTT is the solution for this. Note that the garage door openers talk MQTT to the myq service (over TLS with preshared keys). It should be possible to subscribe to events from your garage door opener(s) and also to send commands to it.

[Eduard]

but MQTT alone doesn't solve the challenge for some Internet server to push messages to a Home Assistance instance running inside a home network / behind a router / behind a firewall / NAT unless a port is opened on the router, or long-polling is used.