You need either a virtual sensor or a virtual lock to trigger Alexa routines. While you can create a virtual sensor in ST without a hub, there is no way to change the state of that sensor. So, without a hub, use a virtual lock. If you have a hub, you can use the vEdge Creator Edge driver to create a virtual switch that can be configured to include a contact sensor that Alexa will recognize. If you use the Edge driver, I would suggest creating a virtual momentary switch since you only need it to trigger the announcement.
Once you have the virtual sensor, set up the following ST Routine:
If Garage Door sensor is open (precondition)
Time is 9 pm
Then Push virtual momentary switch (or open virtual lock)
the above Routine should trigger an Alexa routine:
If virtual momentary switch (or virtual lock) opens
Then Alexa Says "Garage door left open"
If you use the virtual lock, you will should a “Close virtual lock” to the first Routine. With a virtual momentary switch, you can configure it to auto-revert.