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Unfortunately not, room-assistant doesn't support anything ESP. There is an issue open that would allow you to use ESPHome or something similar on your ESPs and room-assistant together with mqtt_room in Home Assistant at least. That wouldn't allow for detecting iOS devices on the ESPs though.
I started using ansible to do this and published the room-assistant playbook to GitHub. With the playbook it should be pretty easy to setup, the only manual parts required are the initial setup of the Pis (flashing image, setting up SSH/WiFi...).
On Android you can use one of the beacon apps to send iBeacons in the background, which can be detected from room-assistant. There is also an effort being made to integrate something like this directly into the Home Assistant Android app, you can follow issue #960. For the dog you could consider using a little iBeacon tag (e.g. the ones from Radius Networks), they work for months or even years off a single battery.
Not with room-assistant currently, but you can take a look at FIND3 for Android and st0nedBs rooms for iOS.