WTH - ZwaveJS2MQTT - Why devices are not discoverable?

Yes… set up MQTT to look at the zwave_js main topic. Secondly, this isn’t a WTH for Home Assistant, this is a WTH for ZwaveJS2MQTT, which is not managed by HA. You should take this up with them.

mqtt:
  discovery_prefix: path_to_zwave_entities_in_broker

Lastly, you can just use websockets and the Zwave JS Integration, no need for MQTT at all.

Take a moment to understand the connection methods for Zwave JS