I made a conscious decision to build out absolutely everything HA-related that I could using Zigbee and Z-Wave devices. I intentionally avoided anything based on wifi and proprietary apps. It's basically what you're describing. I switched from SmartThings to Home Assistant about a year ago, and everything flipped over without any real drama.
As others have said, Matter is another step in this direction with the end goal of making setup a little bit easier; it's still incredibly immature at the moment, though. But Z-Wave and Zigbee are both here now and work fine.