You can use Siri to open and close your garage door. Please check out this video on how to set up Siri Shortcuts.
Note that you can record any phrase you want for each shortcut, and you need to create a separate shortcut (and phrase) for open and close commands. So if you want garage door 2 to open when you say "Hey this Tailwind thing is pretty cool", you can do that. The phrase is completely customizable for each door and each command (open or close). This is especially useful for the open commands because it's inherently more secure. Nobody can steal your phone and say "Hey Siri open garage door".