Pardot’s primary method of integrating with native Salesforce is via its “Completion Action” feature whereby a web hit or form completion or any other Pardot action can among many completion actions “Create Salesforce Task” for the given Contact or Lead.
To send an outbound SMS as a Pardot action, one need only create a process builder on the creation of a specified task. In the example, below we ask that the Pardot administrator create Salesforce Tasks with the syntax:
Subject = Send SMS (any fields or combination of fields can be used this just )
Description = an SMS Template Id (created via the 360 SMS Templates). Note that the Template OBJECT must match either a Lead or Contact if it contains specific object merge tags.