I’ve just added Homekit integration to my working Home Assistant setup.
My garage door, in Home Assistant is a MQTT device (it is Wemos D1 with Relay shield):
I don’t think there is any way to have iOS request confirmation, but you could expose a second fake switch to Homekit and add some HA logic so it only opens the garage door if both switches are activated.
I never used official Homekit devices, do you mean when you have an Garage door opener or other lock system, there is NO confirmation asked when you press the button to open / close it ?