You could try to workout what is being sent down the wire from the IRP401 and emulate that with ESPHome but it would be easier to use one of the cheap ESP IR modules.
The diagram was in one of the Meitav-tec catalogues I found when looking for the damper.
If you want to use a H bridge or a pair of relays then I think it world be connected to the M- M+ terminals as in Application 2 in the diagram.
I can’t help with the ESPHome side as I have not played with that stuff yet, check the ESPHome docs for interlocks.
For an IR solution you can use an IR Rx/TX module like this cheap one or a Broadlink RM to learn the commands from your remote and the play it back with HA.