I can't vote as my answer is "depends on the relationship and the situation". For loved ones, I will always prefer in-person or phone call to more impersonal means of contact, unless they themselves prefer a different method.
For business, I prefer email aside from in-person or video call meetings, as email keeps a much more useful record of who said what, when. Text messages are not suitable for the type of business I generally conduct, as messages need to be sent at all hours across all timezones.
For work, in-person is obviously preferred given I am an early childhood educator - rather tough to expect colleagues, children, and their families to only communicate with me via email, phone calls, and sms lol. When working but needing to communicate with people who aren't in the same room as me, phone call is the best method, followed by email for particular situations. Sms would be the least helpful - and generally most unprofessional - method, only to be used in certain agreed circumstances with all parties aware of the context, rules, and reasons for use. Personally, I would only ever sms a colleague if they contacted me first and a reply seemed necessary, or in response to a private client (a family I'm doing nanny work for, where sms is frequently the easiest method of communication to arrange nanny sessions).
For social stuff - whatever method suits all parties. As I'm not able to physically travel and catchup with people often these days, other methods are more useful for now. As soon as that changes, they'll revert to being the means by which I arrange to catchup in person, and that's all. I'm not an extrovert, but when I need contact with other people, I need *contact*.
For random incidental communication - email or sms is preferred, as they can be replied to at any time, or ignored if applicable. I don't like getting door-to-door salespeople at my home (or workplace, but that's a bit less personally invasive), or having the cold-call equivalent. At all. I understand why those roles exist, and I would never treat the person making contact with any less respect than I would expect for myself. But those incidents are disruptive and utterly unnecessary in my life.