I realize that turning the Sonoff on/off externally from SmartThings can cause a delay until SmartThings decides to poll the device again. For me, I don't really care about the delay, but I can see how it may be more important to others.
Off the top of my head, I don't know of a simple solution.
I suppose what could possibly be done is develop a SmartApp that can manually call the Poll() (I'd have it take any device that implements the Polling capability, not just Sonoff's. see:
http://docs.smartthings.com/en/latest/capabilities-reference.html#polling) method on any assigned device(s). Then expose the SmartApp with an HTTP endpoint that can be triggered from your Raspberry Pi. Since Tasmota will trigger an MQTT message every time it is triggered, Node Red could be configured subscribe to the appropriate topic and make the HTTP call to tell SmartThings to Poll all assigned devices.
The above is kind of roundabout, but should do the trick.
There is also a SmartThings to MQTT bridge project out there on GitHub (
https://github.com/stjohnjohnson/smartthings-mqtt-bridge). I've used it a tiny bit and seems to work fairly well. It may be possible to use this to manually set the state of a device. If so, I'd setup something in Node Red to subscribe to the appropriate topic for when the Sonoff is toggled, and send off another message to set the state properly (or at least call the Poll() method).