This should be built-in on Android 10+
On older versions, it takes a lot of tomfoolery with the APN settings that it's not advisable. Most, like myself, have to turn on mobile data every time for MMS messages. It's annoying.
You may need an app like Textra SMS otherwise.
Why not go with Lucky Mobile? They have a app called Lucky Wifi Talk and Text where you can call anywhere in North America for free via this app. Plus, they have the exact same $55 plan for $50.
https://play.google.com/store/apps/details?id=com.luckymobile.voip