I don’t know about homeassistant, but there’s plenty of open source software to interact with odb2 at least for linux. With some tinkering it should be possible to have bluetooth enabled odb2 adapter where you can dump even raw data out and feed it to some other system of your choise, homeassistant included.
If you want live data from the drive itself you of course need to have some kind of recording device with you (raspberry pi comes to mind) but if you’re happy just to log whatever is available when parking the car you could set up a computer with bluetooth nearby the parking spot on your yard and pull data from that. It may require that you keep the car powered on for a while after arrival to keep bus active, but some cars give at least some data via odb even when without the key being in ignition lock.