Hi. Only Bell and Telus will allow voip over lte. I tried both carriers and watches and it works. Sorry! As long as Rogers won't open voip over lte, and watch esim tied to phone, you will be asking Rogers the same question over and over!!!
Rogers and AT&T share the same platform (cross the to the US and your Rogers will connect to AT&T by default) AT&T uses NumberSync for connecting samsung watches. Google "AT&T NumberSync" for more details