We consider a finite system $\{X_1, X_2, \ldots, X_n\}$ of complete vector fields acting on smooth manifolds $M$ equipped with a smooth positive measure. We assume that the system satisfies Hörmander's condition and generates a finite dimensional Lie algebra of type (R). We investigate the sum of squares of the vector fields operator corresponding to this system which can be viewed as a generalisation of the notion of Grushin operators. In this setting we prove the Poincaré inequality and Li-Yau estimates for the corresponding heat kernel as well as the doubling condition for the optimal control metrics defined by the system. We discuss a surprisingly broad class of examples of described setting.