I ran into the same issues. I mostly just care about not having to wait for the door to open/close. I want it to close before I'm out of sight, and open before I'm in my driveway. So, I'm trying a couple of things to alleviate it. I made 2 more zones, each with different radii. I made a "leaving home" zone with a very small radius, one that only covers my house. When the Lucid leaves this zone, it'll close the door. I then made an "entering home" zone, which is much much larger, I think around 75 meters (just large enough that it doesn't hit the next street over from me). When the Lucid enters this zone, the garage door will open. I've only tested this a couple of times, but so far, the door activates sooner on both occasions. The other thing I'm doing is I'm checking the gear position, so the door will only activate if the gear position of the Lucid is not in "Park".
If this still doesn't give me the timing I want, my next try will be to use my iOS phone's location, which I'm thinking updates more frequently. I would still use the gear position check, that way the garage door should only open/close if I'm in the car, not just walking down the street.
If anyone else has any suggestions as to better mitigate this timing issue, please let us know!
But otherwise, I'm super happy with the HA and Lucid integration. Huge thanks to the developers and everyone's comments on this thread!