The ZEN17 lets you dissociate a switch from a relay and set it up as a door sensor. I have a reed switch wired to it. You could do the same thing with the second relay on the ZEN16 and the second relay with nothing connected to it would just physically change too. You’d replace the binary sensor with that switch. Or you can use any tilt sensor and plug it in there.
Basically this but without the Shelly: Ditching MyQ on Security 2.0+ Garage Lifts (On a Budget)