I’m not certain but having worked with a lot of trackers and associated parts over the years that Data is the only method now to pull the info from a device? In the past and as suggested SMS was utilised to gain Lat & long from a device then the info could be overlayed on a mapping software giving a position, but these were flaky and not very reliable,
Almost all trackers nowadays utilise the mobile phone network through either a 3G or 4G network, GPRS is similar to SMS as the data transfer is sent in packets of data, with 3 & 4G networks the data can be live streamed or tracked, and is cheaper than SMS
The hard work for development of these devices has been taken from the mobile phone technology, so you are kind of restricted by both battery back up and signal strength,
Why is it that you just want SMS?