I am playing with this at the very moment (well, with the garage door but the principle is the same).
I would recommend either the sonoff SV inching model (preferably the 5V/12V model, as the Centurion motor gives 12V) or the "ordinary" sonoff SV - hook it up to the Centurion gate motor power supply, program it so that it gives the pulse when you press the "toggle" button, and connect the output from the sonoff device to the 2 contacts that need to be shortened for the gate to open.
I'm now playing with the sonoff SV model (not the inching model, but have changed the settings so that it turns into the pulse mode - switches ON for the determined time and goes back OFF automatically). So you could use the sonoff with Tasmota the same way you use your NOVA remote but of course with remote/wifi capabilities of course.