Home Assistant + Lutron HomeWorks QS Thermostats?

I’m considering switching to Home Assistant so I can manage all my smart devices from one platform.

Right now I have Lutron HomeWorks QS controlling my ceiling lights and two HVAC thermostats: a Lutron Palladiom thermostat and a Lutron Siemens LR-HVAC-230-S.

What’s really important to me is that I can control the thermostats from Home Assistant. I can’t find clear information about this, so I’m wondering if it’s even possible or if the Lutron integration only supports lighting.

I don’t have a bridge. Currently, I can only control the lights and thermostats through the Lutron Home+ app when I’m connected to my local network. The app communicates directly with the Lutron processor (static IP) via telnet on port 23 using the default credentials.

Has anyone successfully integrated HomeWorks QS thermostats into Home Assistant?

Any guidance would be greatly appreciated.