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I’m not aware of any great FOSS/FLOSS Tasker alternatives. There are a few options, but they will be less capable, functional, extensible, user friendly, or modern.
More direct alternatives
- Automation - Gitea repo / F-Droid
- Easer - Github repo / F-Droid
Requires a server to run automations/dcripts
- Home Assistant - Github repo / F-Droid
Requires scripts and may require a server and/or additional add-on apps
- Termux - Github repo / F-Droid
- Termux:API - Github repo / F-Droid
I also was searching for an open source alternative. I came across Automate, and fell in love with it. However, it’s not open source but I highly recommend giving it a try.