You can purchase an eSIM voucher for $20 and complete a SIM swap using self-serve. It's just like a regular SIM swap with physical SIM cards with the only difference being the QR code scanning. Just make sure you have internet access before you scan the QR code otherwise it won't work. This applies to Koodo too. I can confirm that this works for single-line usage with the iPhone despite what it says on the TELUS eSIM voucher web page. The wording on that web page should change soon.
Also, be sure to call a TELUS/Koodo store before going there to make sure that they have eSIM vouchers in stock. Once you've swapped SIM numbers on the account, all you need to do is open the camera app and add the cellular plan. It would be a good idea to remove the physical SIM before adding a cellular plan just to avoid having to add labels for both.
I don't have a physical SIM card in my iPhone XR. It's just the eSIM on my BYOD loyalty plan ($70/15 GB).