Select a Contact and then an address of that contact and the shortcut will popup a screen with the distance, drive time and the time of arrival. It then asks if this information is to be send to the Contact, allows you to select the Contacts number to send the message to, and sends the Message.

NOTES: Dutch version, text can be changed in the shortcut after download. It uses Message rather than WhatsApp as the latter needs an additional click to send. All text is spoken by Siri, just remove the speak commands if thats not what you want.