I never used a LRA, but I just read a couple of articles about it. It seems like Bela could provide the basic functions to run it, when provided with a power transistor as per the schematics above. However, some more advanced functions, especially those that make use of feebdack loops, may only be achieved using a dedicated driver. This one seems promising: "The DRV2605 device [...] eliminates the requirement to design haptic waveforms because the software includes over 100 licensed effects and audio-to-vibe features".
If I were to use LRAs, I would probably start off trying to run them from Bela directly, but I understand it's pretty tricky to program haptic effects right (it's a science in itself). So, - if unsatisfied - I would then add something like the DRV2605 which has pre-cooked effects ready for use.