Powershell and XML protocol

Hello,

I'm trying to communicate with our telephone exchange with powershell via XML Slican Protocol

Interface:

    Medium: Ethernet
    Protocol: TCP/IP
    Port: 5529

XML frame structure:

<?xml version="1.0" encoding="UTF-8"?>
<XCTIP>
  <Module>
    <Command>
      <Data>...</Data>
    </Command>
  </Module>
</XCTIP>

Answer is also in XML.

I already build a working XML frame structure, which I tested with dedicated Slican tool.

Sending a packet requires also IP, login and pass.

Should I use Invoke-WebRequest or Invoke-RestMethod? Which method? How the request should look like?

Any help will be appreciated.