The verdict
If your customers live in WhatsApp and you have one or two people answering, use the WhatsApp Business app and nothing else for now. Replies from a personal phone have no history and no routing, so that setup has a ceiling.
Once several people answer, or you need status, reporting and a help centre, move to Zendesk and bring the chats into it. Check that your plan supports the messaging channel you need before you commit.
If you pick only one for a growing team, pick Zendesk. A channel without a system leaves you with chats in one person's pocket.