The easiest and most common one is to control HA entities. NodeRed can see changes to all HA entities. It can control them, ie turning light on.
Another way is to instal Zwave integration within NodeRed. It will work but it will not reflect devices in HA automatically. thus you will be responsible to create lights, switches, sensors reflecting your zwave devices in HA using NodeRed.
Note, that using both ways at the same time requires two separate zwave networks so I guess it’s not your option.
My guess is that you will be satisfied with the first option. You have to have NR with HomeAssistant nodes, as well as NR custom integration has to be installed from HACS- both needed to allow NR to see and control HA entities