I’ve seen posts implementing this with Telegram. I suspect there are ways to do it with some of the other notification add-ons too. There isn’t a way to do it with the native openHAB notifications and phone apps though, as far as I’m aware.
The Google Assistant Action recently gained the ability to check the status of a device and then ask if you want to send a command. However, you still have to initiate the conversation–Google isn’t going to suddenly ask you if you want to turn on the vacuum.