For detecting left open garage doors, is there a way to get the status of a door sensor?

I am worried about leaving my garage doors open (one attached, one detached). What I want is a notification if a door sensor remains open for \> X minutes and again if still open after a time (say 9pm). And ideally a notification if I drive off with the door still open. And actually I really want that for all my doors (we have indoor cats so we don't leave outside doors open) - not just the garage although it's the garage that's most likely to be left open since they're both somewhat remote and most likely to be left open. I can certainly mount a ring door sensor to the garage door - but that will still require me to manually check. Notifications are the missing piece. Is there a way to use integration to cobble together a notification solution to my smart phone?