In researching Signal Messenger I was left with the impression that it was difficult to use and tryig to get the whole family to use it would be painful. Having now finished getting it set up on everyone's phone I have to say: it was not difficult at all.
We each established a 1:1 channel with each other, and a group chat for the Family. I and one of the teenagers are admins of the Group. We've also used it for a 1:1 video call between an Android phone and an iPhone.
So far, so good.