These two basically do what you want, let Claude be the manager and Codex/Gemini be the worker. Many say that Coder-Codex-Gemini is easier to understand than CCG-Workflow, which has too many commands to start with.

https://github.com/FredericMN/Coder-Codex-Gemini https://github.com/fengshao1227/ccg-workflow

This one also seems promising, but I haven't tried it yet.

https://github.com/bfly123/claude_code_bridge

All of them are made by Chinese dev. I know some people are hesitant when they see Chinese products, so I'll address that first. But I have tried all of them, and they have all been great.