ESPHome is what you're looking for. Makes it very easy to integrate ESP32 and similar devices.
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I've made a few, but they were quite specific in their purpose. The esp32 ecosystem is pretty great for this purpose, but generally I find people won't take the time to fuss around with making their own anything when off the shelf varieties are cheap.
In German, but yes, made my own CO2-Sensors.
Ya, as others have said... esp32 (or esphome)
I have a 4 temp sensor (two DS18B20) that are attached to my in/out water lines to my geothermal water loop, and 2 (DHT22) in the air stream showing/logging IN/OUT air temp.
Don't mind my terrible ms paint drawing :)
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With Esphome I made a gate opener (soldered a wireless remote to a relay module and the module to an esp32), a thermostat (screen, encoder wheel, dht-22, etc), a pc power button remote... and like 8 other projects that I never finished!
I have lots of temp/humidity sensors. I use them to control heating zones instead of the traditional thermostats.
I've become a big fan of the Adafruit BME680, but it's pricey compared to other sensors. But, you get temp, humidity, pressure, etc. Very accurate, too.
The sensors are connected to D1 Mini boards. The dry contact switches I use are in a 4 switch device from Sonoff (4CH Pro, I think).
I prefer Tasmota to ESP Home, but it's personal preference.
You could easily control your own contactors instead of using a Sonoff device if you want.
I made my own smart outlets with an ESP-01, dual relay board, and ESPHome. Also made some temp/humidity sensors as well as a 20x4 text display. All powered by a bunch of ESP-01s I bought cheap and in-bulk from Ali and programming using ESPHome which handles most of the work interfacing with the components as well as the HomeAssistant integration.
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