Other than the main SMS/Text app that's included in iOS, I've used Telegram the most. I love how lightweight it is and it has a desktop/browser port so you can check/post on the app from your PC if you'd like to not have to grab your phone every time someone messages you. Discord is also really good but using it solely for text chatting is pretty overkill especially that launching it on mobile can take up to 30 seconds if your phone closes the background process often.