This is what I use for the single-relay ESP32 board I have in my garage as the garage door controller.

This is the board:

Files
The Fusion360 model file based on this case model but I added the button.
| Object | STL | 3MF |
|---|---|---|
| Case | Case STL | Case 3MF |
| Button | Button STL | Button 3MF |
| Lid | Lid STL | Lid 3MF |
ESPHome Garage Door Button Config
Basically you can tap the physical button or the “Garage Door Trigger” entity in Home Assistant and it’ll trigger the relay for 300ms which is enough for my garage door to think I pressed the button.
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