I think a good solution would be kallisto/bustools (or other solutions that work, like STARsolo or alevin-fry).
E.g. For kallisto/bustools, pip install kb_python, build your kallisto index with the kb ref command, and then do the quantification with kb count -x BDWTA.
(BDWTA tells kallisto to parse the reads based off BD Rhapsody structure).
You then get count matrices which you can load into scanpy or seurat for downstream analysis and QC'ing like you would with 10X data.