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If you're familiar in any capacity with self hosted tech. Id suggest checking out matrix servers. I setup one for family and friends a few months back. Currently it's only running on a 2 core 8 gig ram vps with around 15 regular users, and ticks over fine. It's routinely used as a phone chat client like WhatsApp, as well as for voice channels instead of discord.
You can utilise multiple different clients; but I would suggest element, as they're the closest to WhatsApp, and therefore the easiest for people to adopt. (Afaik, it's the only matrix client with voice & video call support too).
Matrix servers run on the concept of decentralised federated servers, with the idea that as the technology expands, admins can federate with other matrix servers and allow cross communication (in much the same way the fediverse works).