First the short story... I've discovered that the default settings for the Zen16 create a vulnerability to power interruptions that can cause the garage door to open. I'd encourage anyone using this relay to cycle the power to their Zen16 to confirm system behavior. The good news is, there is a setting that will eliminate this vulnerability.
The long story...
I've been using the Zen16 now for about 7 or 8 months on my two garage doors, and it has worked mostly flawlessly... until a week ago. I'm using a simple contact sensor on each door, and using the Zooz Garage Door App to control the two doors. The only issues I've had are not with the Zen16, but rather with flaky presence detection that would occasionally trigger a door to open even though we never left home - but that is another story. The issue I experienced a week ago was directly related to the relay configuration, and resulted in an unintended garage door open command while I was away on vacation. Thankfully my neighbors were watching out for us.
We left for vacation very early on a Friday morning. Knowing we were going to be gone for a week, I paused the apps that open the doors on our presence flags, just to be sure it wouldn't somehow falsely activate. Late that night, I get a text from my next door neighbor that both of my garage doors are open (both were definitely closed when we left). They tried closing them for me, but neither the key pad codes nor wall switches would make the doors close. They ended up disconnecting the doors from the openers so that they could close them for us.
They commented that a severe storm had blown through earlier in the evening, and the power had gone off for some period of time. All I could guess at that point is that when power was restored, the relays triggered, opening the doors. I also recalled that when I first hooked up the Zen16, the wall switches did not work until I cycled the associated relay on and back off. This made me think something about this power cycling caused the same effect. Unfortunately, I was not able for some reason to command those relays remotely to try to correct it on the spot, and the neighbors were left with disconnecting the openers so they could manually close the doors.
We arrived home late last night, and this morning I did some experimenting and learned something important about configuring this relay. By default, the relay preference for "On/Off Status Recovery After Power Failure" is set to "Restore Relay States From Before Power Failure". This seemed like a perfectly rational setting - just pick up where it left off - so I left it in this default state. However, what I discovered is that this setting does not work as expected. When I unplugged the relay, then plugged it back in, it triggered both doors to open. This suggests that the relays toggled on then off, even though it would have been in the 'off' state when power was interrupted. I decided to change this parameter to "Turn All Relays Off", and the problem has been eliminated.
Sorry for the long post, but I think this is a critical thing to understand about using this relay for garage doors. I've done a bit of searching today, but have yet to find any mention of this issue. I've also not seen any comment on how to configure this particular setting, other than to leave the Zen16 in its default config and use an App to control it (which I am). Hopefully my experience helps others. I'm going to post also under the garage door app, maybe the app can be adjusted to force this configuration, or at the very least, make people aware of the setting.