I had a feature request to support IDASEN and came to the same conclusion.
However, for myself (and I suspect others), I don't need yet another app to do something. I want to push a button and be finished in 1 second for something like a desk. Cognitive load on this should be zero.
Generally these devices use Bluetooth Low Energy (BLE) for control, which has a well-defined 'schema' where devices expose 'services' which contain a number of read/write/notify 'characteristics' that are used for control. It's pretty easy to reverse engineer this stuff, I spent around two hours doing it with a sleep number adjustable bed base. Once you have the protocol of course you can just write a program to connect to the MAC address and send the commands. Another response to the parent shows that this has already been done.
On Android the free (as in money) NRF Connect application lets you browse the services/characteristics, tells you which ones are read/write/notify, and snoop+send data. I also had to use the 'Bluetooth Snoop Log' setting in Developer Options and open the log in Wireshark to sniff some of the packets that the app sent. The log contains timestamps so you can wait 10 seconds between operations to make it really easy to identify what does what. All you need in Wireshark is a filter like 'btatt.uuid128 == ff...:ff' to filter to just the characteristic you want to sniff.
However, for myself (and I suspect others), I don't need yet another app to do something. I want to push a button and be finished in 1 second for something like a desk. Cognitive load on this should be zero.