Hi,
In your case (such as the telemetry data are super infrequent), the messages can be routed to the Azure Event Grid service and using an eventing for handling a device telemetry data in the Pub/Sub manner.
Using the Azure IoT Central App, you can pulled up the last value of the telemetry data, send the command, update properties, etc. using the REST APIs, see more details here.
I have still recommending to use the PnP device model created based on your current device infrastructure, when the devices are planned to connect with an IoT Central App. Note, that the Azure IoT Central App is driven by device model.
Thanks
Roman