Unless Hubspot and Google enter a partnership, it’s not possible to have an integration, since Google Voice has deprecated their API.
As an interim solution, I built a simple chrome extension to log my texts from Google Voice to Hubspot. I’ll continue to build this out for personal use, but if there’s interest, I’ll publish it as well
You can check out a demo here - https://youtu.be/wEvfXklSGrI