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I suppose the release dates are so that Vodafone can bake the settings for the CSC\OMC into firmware releases for the "newer devices". I managed to update the config manually on my now 5 year old S7 Edge and have SMS over Wifi Calling working which hasn't had any firmware released for a while now and no support for Android 10 or 11.
For older devices you would need to have a rooted device to enable the correct configuration!
Disclaimer: I will take no responsibility for you rooting your device or any apps not working due to rooted device. You have been warned.
1) You will need to root your device, kiss Samsung Pay, Secure Folder, Knox etc good bye! You can however unroot once the config has been updated but the above apps will no longer work. Other apps may or may not work. Again you have been warned.
2) Make sure that your omc profile being used has sms over IP enabled. Use any root explorer app to add it if you're missing it in your customer.xml,
You can check for it under System > OMC > YourCSC (assuming it is VOD) folder> customer.xml in the IMS settings config section as per screenshot below. (Yes, I know mine says 3 UK as I was previously using it on 3 but the same profile works absolutely fine on Vodafone UK too.)
These lines need to be present under the <IMSSetting> with the <VoLTE> section tags.
<EnableIMS>true</EnableIMS>
<VoLTE>
<EnableVolTE>true<</EnableVolTE>
<EnableVoiceoverWIFI>true</EnableVoiceoverWIFI>
<EnableSMSoverIP>true</EnableSMSoverIP>
</VoLTE>
3) Install google phone dialler and enter USSD code "*#*#467#*#* " without the quotation marks to launch the IMS Settings configuration app. This might not work on newer devices and you'll need to try the alternative steps below:
Alternative steps:
Download anytool that allows you to configure IMSSettings. You can find one with that name in Google playstore. I used the one by Jun Hyung Lee called "IMS Settings Launcher Samsung (Enable VoLTE)"
Launch the app, you may be prompted for root, Iif you are, I usually disable both mobile and wifi access before granting root access. Make sure you have Antivirus as an additional precaution as root gives God privileges on your mobile device. Again, I cannot vouch for this app, it's just what I used and uninstalled it straight after making the configuration changes I needed.
4) Once you have the IMS settings app open, go to "IMS Service Switch" then toggle SMS over IP if it isn't already.
5) Now go back to the main page and select "IMS Profile" and Select "VODAFONE UK IMS VoLTE for VOD"
6) Scroll down till you see a section called "Service" under there enable smsip for wifi. Go back and the top right hand corner of the page you will a floppy icon, click it to save the new settings. That's it.
7) To verify your settings are work as expected, on the main page go to the section "IMS Information"
You should see IMS Registration, Voice over IP and SMS over IP all showing true.
😎Finally, as proof I put my device in flight mode and enabled wifi. You can see from the screenshot the last message was sent and received in flight mode using Wifi calling forced 
Good luck!
