What do you consider 'as expected'? Personally I want switches that will turn off when flicked down, and turn on when flicked up. On the other hand, 3 way switches have already broken that rule so instead, toggling a switch will always toggle the light regardless of its position.
If that toggling is okay with you, I've heard good things about Shelly which you can use to convert a regular switch to be smart. Otherwise I'm looking at GE Enbrighten switches which looks to keep the switch itself in a neutral position and have two buttons on the up and down rather than being an actual switchable switch.
It would have to be 'toggling' I think as otherwise it is not possible to gain complete automation. Consider a light that has been switched (physically) off and then turns on via automation - the switch cannot be physically turned off, as it is already in that position.
This is why the conundrum exists and as such I would need to replace all switches with toggles, or distinct on/off buttons, so the family could easily manage.
However, they also need to work as non-smart/traditional lights if the network has failed, and I suspect this is a much harder problem to solve.
Lutron Caseta switches (which I use for my mains) have two buttons. One on top for on and one on bottom for off. They also have a little dimple so you can feel which is which without looking. It gets a little more complicated if you have a fan or dimmer control but the user experience is still pretty good. Is it as quick and easy as a physical switch? No, but it's about as close as you can get without having a physical switch that actively toggles when it's triggered remotely. I don't know if anybody makes a switch like that. It would be nice but for me personally the Caseta switches are more than sufficient. I've had zero usability issues and no complaints from the wife.
If that toggling is okay with you, I've heard good things about Shelly which you can use to convert a regular switch to be smart. Otherwise I'm looking at GE Enbrighten switches which looks to keep the switch itself in a neutral position and have two buttons on the up and down rather than being an actual switchable switch.