The Alexa telnet driver I created can do this. Similar to Google assistant relay it requires the code to be on a device like a pi or similar.
There are some hangups with a two week cookie currently. Otherwise it has worked solid for me now for a few months.
I believe @ogiewon driver could be capable of the same. When I have some time I plan to see if I can figure out how to add the call. Shouldn't be too different than the call for tts.
