The new SDK for local integration of google assistant devices with home assistant hubs came out 2 days ago…
https://developers.google.com/assistant/smarthome/concepts/local
from the link above:
Local fulfillment
"
The Local Home SDK enhances your smart home integration with the Google Assistant by adding a local fulfillment path to route smart home intents.
The SDK lets you write a local fulfillment app, using TypeScript or JavaScript, that contains your smart home business logic. Google Home or Google Nest devices can load and run your app on-device. Your app communicates directly with your existing smart devices over Wi-Fi on a local area network (LAN) to fulfill user commands, over existing protocols.
Integration of the SDK offers performance improvements to your smart home Action, including lower latency and higher reliability. Local fulfillment is supported for all device types and device traits, except those that use two-factor authentication."