Signal set the industry standard for encryption and privacy, and it’s what I tend to point people towards. The one down-side is that it is still tied to your phone number, so solutions like Element/Matrix or XMPP with OMEMO might be a little better for some use cases. My wife, kids and I use Conversations(.)im for our intra-family chats and use Signal for talking to everybody else.
I’m using CalyxOS and it’s pre-installed as a system app, so this seems like something that’s being built in at the AOSP level of development.