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Pushover is a JSON-based web API. - Just use curl, wget, or links CLI to use.

Yep. It supports several "integrations" [0], but I typically just send notifications (to my mobile devices) from shell and Python scripts running on my machines -- they even have examples on their front page.

It supports acknowledgements (for "emergency" messages, at least) but I'm not sure about arbitrary "responses" (although you can include clickable links in the notifications).

Pushover's awesome -- and made by @jcs [1] who, among other things, works on OpenBSD.

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[0]: https://pushover.net/apps

[1]: https://jcs.org/

Also used Pushover for 4-5 years without any issues on both iOS and Android devices.

I've used pushover for this as well. Nice perk: on iOS at least you can easily define a custom image and sound to go along with your message. This is FUN to use.