Call Google Assistant Action from HA

I would like for HA to call a Google Assistant Action (created with DialogFlow) to ask the user for some input, then (based on the conversation) have Google Assistant call an HA automation to execute a task.

I have successfully created an google assistant action using Google Dialog flow. The action asks a question, listens for an answer and then successfully triggers (via a Webhook) the HA automation.

Can initiate the action from the Google device (nest mini) by pronouncing the keywords.

I can also trigger the Google Assitant action from a web-page through an action link (https://console.actions.google.com/u/0/project/home-assistant-295415/actionlinks/, gives me the URL
https://assistant.google.com/services/invoke/uid/000000de3a749f84?hl=nl

Call in this URL from a web-browser gets me to a page where i can select the device the call should go to (and which then starts speaking).

How can I trigger this url (and the device to which to send to) in HA?

Use case: HA detects that the living room light is switched on and then have Google Mini ask “do you want to switch the kitchen light on too?”

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Unfortunately, google assistant has to be called in order to listen in. It can “say” things on command, but not turn on the microphone on command.

And how about triggering a google assistant routine (issuing an “intent phrase”) through Assistant Relay? I’ve been toying around with that route, but no success yet.

Been scratching my head over the exact same issue - how to trigger dialogflow events/intents from HA and also have them play out on a specific assistant enabled device. I tried Assistant Relay as a workaround but it was a deadend too.

Did you find any working solution?

It should be possible, I think if you can get the Google Authentication right so you can fire off the action link and not get a “forbidden”, but up till now i have not got it working. Any help would be appreciated!