Hi Greg, in theory that should be pretty easy. I have some SR04 so I know they work as long as you have the sensors version of Tasmota installed which you already do by the sound of it. I'll refer you over to the universal sensor thread which you can find [here.] ([Released] Tasmota Sync - Universal Sensor Driver - #15 by garyjmilne) for future discussions around this topic.
Here is what you need to do.
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Change the IP on the DRIVER of your existing "Greg Car - Universal Parent". The field is called Device Network ID. This lets you keep your old config while you try out the new one.
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Install my Tasmota Sync Universal Sensor Driver per the instructions and make sure you add the IP of the Tasmota device and the Hub. Looks like you have a switch on your Tasmota device so you would use the Universal Sensor driver with Single Relay.
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Do a refresh and it should populate the attributes.
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Once it has detected your ultrasonic sensor it should populate an attribute called distance if I remember correctly.
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Once that is working you can now do the tasmotaInjectRule and the tasmotaTelePeriod and it will send updates from Tasmota back to Hubitat automatically.
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When you are creating Hubitat rules around the sensor values you need to use the custom attribute value as your trigger.
I may have missed something so you can find the documentation here.
Sounds complicated but once you have been through it you will find it's quite easy to do.
P.S. You need to upgrade to Tasmota to version 11 or later. I'm using 12 on all my devices without any issue. Here is a guide if you need any help with that. https://github.com/GaryMilne/Hubitat-Tasmota/blob/main/How%20to%20Upgrade%20from%20Tasmota%20from%208.X%20to%2011.X.pdf
