That's exactly what I did. This is my SAR (using the child notification device on that Red dimmer). The selection for "Any opened" and the checkbox for "turn off when all closed" are key.
(what is even more amazing to me is the two garage door contact sensors are still on ST and exposed to Hubitat via Hubconnect, since I haven't moved that part of my Zigbee mesh over to Hubitat yet. The color names on the doors match the cars)