API for web programs to talk to each other

We use several web applications to run our landscaping business. One is Samsara which is a GPS tracking device / app so I know when the trucks enter and leave one of our sites. Samsara will do a webhook on some of the geofencing but the webhook communication isn't enough for my needs. Samsara will do a TEXT notification that is exactly what I need. To start with, I need an API to take the TEXT information and update a Google Sheet. The update to the Google Sheet will require a MATCH to the site address....the address of the site is in both the TEXT and Google Sheet. I will provide access to both Samsara and Google Sheets.