Phone notifications when door sensors remain open?

Is there a way to generate notifications when a door sensor: - Remains open \> X minutes - Is still open at a set time (e.g. 9pm). - Is still open when I drive away. In particular I have a detached and attached garage door that I've left open previously and would love to have an active notification system to remind me. And we have indoor cats so I'd use the same for all the other external house doors since they should never be left open more than briefly.