You often see these in bathroom switches, where one rocker is a light and one rocker is an on/off fan control. All fit into a single gang box.
Leviton makes one zwave one, the VRCS2 , which can work with smart things and provides this form factor. However, it’s sort of a pain to get set up. Also, it’s expensive: typically $140. See the following thread.
Otherwise the dual relays already mentioned will work for many use cases and may even have an easier setup process. And the relays are usually cheaper as well. 