Home Assistant (or, really, any local HA controller) plus a VPN will allow you to control them from anywhere you have Internet connectivity without exposing anything to a cloud-based service.
Maybe less secure than a VPN connection (e.g. if somebody gets control over the channel or bots instead of you/other trusted members) and of course more finicky until the bot works as desired, but always a nice party trick.
Or a combination of VPN for home-critical automations and telegram bots for the simple/shared ones.