You can update the firmware manually when it’s stuck in the bootloader, from the command line, directly from HAOS.
Use the community SSH add-on and enable protected mode for the terminal session. Copy the firmware file to your /config directory. Then login via the SSH add-on.
Install npm:
$ apk add --no-cache npm
Run the flash utility:
$ npx -y @zwave-js/flash /dev/ttyUSB0 /config/fw.gbl
Run with verbose option if there are any issues:
$ npx -y @zwave-js/flash /dev/ttyUSB0 /config/fw.gbl --verbose