Hubspot Integration: Create new task from template when Hubspot deal is moved to specific stage?

Hello!

Our team is trying to build out more automation and we were hoping to use the Hubspot integration in a certain way: To add a new task to a board from a template when a Hubspot deal on a specific pipeline moves to a certain stage. More specifically, we want to kick off our customer onboarding template in Asana when a deal is won in Hubspot (instead of having a person manually kick it off).

From what I see, I can just create a new task (not from a template) when a deal on a specific pipeline moves to a different stage (not to a certain stage). Am I seeing this right, or is there a way to get more specific and automate what we’re trying to do?

Thanks for any help!