We've made some updates in our December release that make this a little easier to accomplish but we have not implemented full support for it. In December, we expanded the set of fields that can be passed from Workforce to the app being called.
In terms of changing our Workforce app integration to open existing features or inspections; this work has been parked for the time being. We continue to review it each release to see if we can address it but it hasn't been added to a release yet.
You can accomplish this by editing the app integration table yourself and creating the url Survey123 requires. You'd have to look into the Survey123 documentation; they have several topics that describe how to do this.
Craig