And yes, the Harmony One does have a control for the Lutron Maestro. I've programmed the + and E buttons to bring my lights full on and off, and the up/down buttons for dimming levels. It's also programmed into the activities where I want the lights dimmed.

I started out with nothing & I've still got most of it left
M60 VP160 QS8 EP350
M22 VP100
Algonquins