Door Left Open Configuration?

I am looking to create some sort of Automation to where if X Door Sensor is left open for so many minutes I get notified. I searched the forums but most of the results were older and I wasn’t sure what information was current. Is this possible? Thanks in advance!

For myself, I use an Automation…

If
Door sensor open
For X minutes

Then
Send notification

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Yes this is what I was looking for. I was unable to find this setup at first because I didn’t have a multipurpose sensor connected to the system. Once I got one added, it all fell into place - thank you!