A OpenRC script should be fairly simple, as should a script for the modern van Smoorenburg rc in Debian. They are both largely just scripts of variable=value assignments.
The service file for systemd looks pretty simple, so that's probably not a problem to port to some other init system.
But what's in the "nearly" above, do you have some other concrete requirements for the distro? Any technical reason very small busybox-based systems would be unable to support your agent?
Deviceplane sounds like a very good idea for a niche that really needs something like it!
We've really wanted to add OpenRC support to our installation script for a while but haven't gotten to it yet.
If you know your init system well, you could always write your own service file. Here's the unit file for systemd as a reference: https://github.com/deviceplane/deviceplane/blob/master/insta....
Let me know if you end up getting this to work. Would love to upstream to our install script!