Domoticz Beta versions from December 2021 or later support the MQTT Discovery protocol. As EMS-ESP also fully supports Home Assistant MQTT Discovery this will automatically provide you with all available entities in Domoticz.
EMS-ESP v3.3 provides all entities except the climate controls as read-only devices in Domoticz. In EMS-ESP v3.4 all entities that can be changed by the user will be available as a settable device in Domoticz.
Check the BBQKees Wiki for the instructions on how to install.