Lutron integration with Hubitat is superb... probably the best in their suite of great apps.
In cases where there's an existing Pico... I have one centered on each headboard to control room lights... I had to merge in the additional needs. Bedrooms (for us) are small rooms in terms of number of things to need controlling, therefore the number of buttons already in use turned out to be small and not highly contentious. I wanted the Pico's to be as similar as possible throughout the house so I imagined "layers" for the Pico buttons.. presses are the "top layer" while press and hold is the "bottom layer." I then decided Fan would go on the bottom layer and light on the top layer. From there it was easy to assign the speeds or lamp dim to the 5 buttons. Where there was a conflict in the buttons it actually worked out nice too. I'd already assigned a "room lamp at it's dimmest" to a button, and "full bright (90%)" to another for example. I decided to just not use the Fan's lamp for "dimmest" because I didn't want it brighter via two lights. Full bright on the other hand used both the existing room light plus the fan's light. 4 fan levels (off, low, medium, high) and 5 buttons gave me the option of using the same pattern with the fan light and thus retain the center Pico button as a 'favorite.'
All of it was implemented via ABC (Advanced Button Controller).
I had an unused Pico at the start and I experimented with it and saved a screenshot from that first trial: