Can’t speak for HWI processors, but if it’s a QS processor, it can take telnet commands. It’s a published and easy protocol.

If you have an older processor, these can be installed, relatively affordably, along with new processors:

https://assets.lutron.com/a/documents/369545_hw_module_interface_spec.pdf

Source: had to go “program a quick job” - which meant figuring out what panels were where, how many existed, and every single load. In renovation. Contractors just used a breaker to turn everything on and off. Setup new processors, as well as a bridge, and I could use HomeKit. I am also Lutron certified, but not for HomeWorks, so take that for what you will

https://imgur.io/CY9Ehik

Ahh Lutron HomeWorks QS Panels. Last one of these I touched was about a year ago. It looks like you have the module interfaces installed. Do you see a main processor? If you have that, and it’s a HomeWorks QS processor, all you need is a few hundred dollar box, smaller than an Apple TV, and HomeKit will work well.