@Philsbits
Hi,
If the Tapo C500 and Tapo C510W do not have the Pan & Tilt Control action on the Smart Action page, it's recommended to pay attention to the camera's firmware release notes on our official website and keep the camera's firmware up to date. Usually, new features are introduced alongside new firmware updates. You can view the specific changes included in the new firmware by checking the "Firmware Release Notes" section on the Camera Support page on our official website.
Since Home Assistant is an open-source platform and not officially supported by our camera, we do not have information on whether you can use it to automate pans & tilts of the camera. You may contact Home Assistant's support team to see whether they have any suggestions.
Best Regards