To route inbound SMS to your server URL on Vapi, here's what you need to do:
First make sure your Twilio number is US-based, SMS-capable, and 10DLC approved Vapi only supports US ↔ US SMS right now.
Then go to your Vapi Dashboard, import your Twilio number using your SID + Auth Token, and toggle SMS ON in the number settings. Vapi will automatically configure the Twilio webhook for you.
To point it to your server URL just go to that phone number's settings and drop your URL there. You can also set it at the assistant level under the Advanced tab or account wide under Webhooks Vapi picks the most specific one.
If it's still not working check three things is smsEnabled: true? Is an assistant attached to the number? Is your 10DLC approved on Twilio? That covers 99% of cases.