Pretty much the only option for wifi, battery, and no subscription (local recording) would be Eufy

I do this all the time with Pico remotes. I have some single-gang boxes that I turn into dual-gang by adding a pico. Almost all of my 3-way switches have a pico in a single-gang box too.

There are official adapters you can buy from Lutron but I just 3D print mine.

You can jailbreak your Control4 system very easily and program it yourself, there’s a large supportive community for it too:

/r/C4diy

https://discord.com/invite/control4