Auto Text Message system from Agent to Client

I want to be able to send text messages through our hosting site. I have a list of agent phone numbers in a MySQL database and need to be able to send a text when a new client enters our database. I looked into Twilio, but they do not support texting in the way I need it.

Here is what is known:
$agent_number - The PHP variable for the agent's phone number
$client_number - The PHP variable for the client's phone number when they enter our Upgrade to see actual infot all text messages will be coming from the same agent phone number and will vary on different factors.

Here is what I want:
Text message from $agent_number to $client_number with the message "Hello, saw your inquiry and wanted to follow Upgrade to see actual infow a good time to chat?". The message is subject to change as I will input more PHP variables later.

What I need:
Need someone that can make this happen, preferably in PHP. Twilio doesn't support this, as I have tried already.

Bonus:
Will be looking for someone in the near future that can set up our Twilio number in a similar way. We want an agent to get a call from our Twilio number, then be patched through to the client.