Nothing that’s documented.
It’s not part of the MIDI spec so that route is closed.
MixPad does it, and so does Mixing Station (which David created by reverse engineering the protocol that MixPad uses), so it’s possible, but you would have to reverse engineer it yourself. Allen & Heath are very unlikely to release the spec.
OSC support has been asked for several times for many products, but no sign yet that it is being considered.
I’ve been looking into Stream Deck / Companion myself the last couple of days. It looks like the SQ Companion connector has been abandoned by the developer. Stream Deck has a MIDI plugin now though that looks like it will do most things that the SQ provides access to.