To work around “Security+ 20” I purchased an inexpensive (~ $10 USD) LiftMaster 883LM Security+ 2.0 MyQ Door Control Push Button. You solder a relay to the small push button so the relay simulates pushing the security+ button (not closing the circuit to the opener). You then wire up the button normally to the motor.
I use esphome (ESP12s Huzzah) to toggle the relay. I housed the ESP12s, relay, and button together in a project box on the motor near the convenient A/C outlet on the ceiling:
This is basically the same thing pashdown wrote about (see main thread and his photos in that link) and it’s been working for a couple years now.
For sensing the state of the garage door I use a simple Z-Wave magnetic door sensor (photo of installation in link):