Unfortunately with the smart home stuff, you’re often stuck with some vendor and their decisions. You have to pay close attention before buying devices. There is a chance your Tuya devices are supported by something like the mentioned Tasmota. They have a long list. But flashing a new firmware on some lightbulb is a bit cumbersome and you can brick the devices easily. It’s probably not something you want to do unless this is your hobby.

I can recommend buying Zigbee devices and a supported gateway, or something alike. That works without some cloud service.