Yes, WayAround is the clear choice here. Technically you could do it just using Apple’s Shortcuts app if you wanted to react to any NFC tag, then you can use any compatible tag as long as you can fix it yourself. Or use QR codes, again, that you can easily generate and print yourself. I don’t know what your odds are for reusing existing labels and tags from PenFriend or WayAround though; I’d suggest trying to scan them with the camera or set up an automation in Shortcuts for NFC and see what happens. Once you have it working, you can trigger any action you want, like playing back a suitable recording.
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