hi
Maybe some one did similar project with esp .I saw on IFA 2018 Fibaro smart implant which basically allows to remote control old devices. More info here (eng subtitles): https://www.youtube.com/watch?v=pt9tZI4s0rM
if you did something similar please share your configuration.
Just hang your wires off the esp. May need some interfacing.
Before you rush out to buy it, remember that Europe and the U.S. use different frequencies for Z-Wave devices.
And even more so, Europe and the US aren’t the only places in the world 
The hardest part though, IMO, is working out what wire does which in your ancient device.