We just went with IntegrateCloud app for a Zendesk - Asana bidirectional integration. The team customized the app for us based on our requirements. They got it up and running within two days. It does the job. We tried two other options before going with IntegrateCloud but they didn’t work out for us. More info about the app here but they don’t mention much about it being bidirectional. Asana Integration By IntegrateCloud App Integration with Zendesk Support