To be perfectly transparent, Tasker is definitely a tinkerers paradise (eg. power user focused). It’s not an officially supported integration by any means, and it will take quite a few steps to setup… but it should all happen locally, so I would think it would be reasonably fast.
The Tasker Plugin for Harmony is a plugin for the Android automation app called Tasker. So you’ll need both of those for this to work. And will likely need the AutoTools Tasker plugin to trigger the task from your dashboard easily.
The high level concept would be to:
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Install Tasker, AutoTools (Tasker Plugin), and the Tasker Plugin for Harmony
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Configure the Tasker Plugin for Harmony so it recognizes your Harmony remote
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Create a new Tasker Profile using an AutoTools which runs a Tasker Task with your desired command from the Tasker Plugin for Harmony
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Use a Hyperlink tile to trigger the Tasker profile/task (reference)