There are a couple of options:
- You could use an app like CoRE to create a rule that is a lock event is detected, and if the door state is open then send an unlock command
- If you have access to RBoy Apps you could use any of these apps which provide that functionality to unlock a deadbolt if the door is left open
The difference between the two is that one programs user codes into the lock while the other doesn’t.
However all that being said remember that these solutions are only as effective as your z-wave mesh. If your mesh is slow or losing commands then there will be a delay between the hub detected that the lock has extended the deadbolt and then the app sending the command back to the lock to unlock the door.
The good news is Yale locks are very responsive (Schlage deadbolts have a minimum time between unlock/lock commands which can hamper this feature). So give it a try and see how it goes YMMV.