Can I access my cell phone that is a few miles away?

The following: I was driven home and then left my cell phone in the car. My friend then drove home and now my cell phone is still in his car and he is at work. That's why he can't bring it to me.
I managed briefly to access the Whatsapp on my mobile phone on the laptop with WhatsappWeb. For about 30 minutes. However, it then lost the connection.
And with the Google "Find my phone" service, I was able to locate my phone.

Is there a way that I can access my phone from home? Somehow? I would have to write an important text message, and that is not possible on a laptop.

No, that is not possible.

And certainly not without preparation.

TeamViewer might have worked, right?

Maybe.

There are also services to send SMS from the PC, unfortunately you need to register your mobile phone at least once.

No

Then not.

I had already suspected that.

You don't need a cell phone to write an SMS, just use one of the free services on the Internet! There's this also without registration or that one has a cell phone or whom Dan you can also enter the 0 as number!