I use the Go-Control controller. Availability is sometimes hit and miss, but when available cost about $100. The z-wave integration and control works great - they come with a tilt sensor which provides open / opening / closed / closing events. They do have a built in 30 sec delay between commands to allow the door to fully open/close which you cannot override or change (no functions to disable that I have found). Also provide a warning prior to open/close with flashing LED and beeping.
There are used ones available on EBay for less, sometimes under the Iris or Linear names.
https://www.gocontrol.com/detail.php?productId=4
Device is GENERIC Z-WAVE GARAGE DOOR OPENER.