HSM coupled with Nyckelharpa works quite well.
It was purpose built to handle the entry and exit delays as well as being able to arm with monitored sensors in the open position. I used it on Smartthings and then Hubitat when I moved over in 2020. It has been running for years without me having to even look at it.
There is also a separate keypad driver if you wish to use some of the older Centralite, Iris or UEI keypads available on eBay for reasonable prices.
@arnb did a really nice job with this app.