Here is small code snippet to be able to use WooFood custom variables like Order Type (Delivery or Pickup), Date To Deliver and Time To Deliver .

function wpslash_woofood_twilio_woocommerce_custom_variables( $message, $order ) {

        if ( ! class_exists( 'SV_WC_Order_Compatibility' ) ) {
                return $message;
        }

        $woofood_order_type     = woofood_get_order_type_by_key(SV_WC_Order_Compatibility::get_meta( $order, 'woofood_order_type' ));
	$woofood_date_to_deliver = SV_WC_Order_Compatibility::get_meta( $order, 'woofood_date_to_deliver' );
	$woofood_time_to_deliver = SV_WC_Order_Compatibility::get_meta( $order, 'woofood_time_to_deliver' );


        $message = str_replace( '%order_type%', $woofood_order_type, $message );
        $message = str_replace( '%date_to_deliver%', $woofood_date_to_deliver, $message );
        $message = str_replace( '%time_to_deliver%', $woofood_time_to_deliver, $message );

    

        return $message;
}
add_filter( 'wc_twilio_sms_customer_sms_before_variable_replace', 'wpslash_woofood_twilio_woocommerce_custom_variables', 10, 2 );