Replacing placeholder with another table's data (without knowing in advance the substitutions)

I need to replace placeholders in a text, reading from a query matched to that specific message.

Table Template_Messages

| ID        | String                                                       | Query                              
| PICKUP_MSG|Your {vehicle_name} will be ready for pick-up on {pickup_date}|SELECT * FROM vehicles WHERE ID = ?

If I take the query I find in the 'Query' column, I will find the following table:

Table Vehicles

| ID  | vehicle_name | plate  | pickup_date | ... |
| P981| BMW X5       | AA014CC| 2022-09-20  | ... |
| Z323| Ford Focus   | HH000JJ| 2022-10-21  | ... |

Then with the following query:

SELECT * FROM vehicles WHERE ID = 'Z323'

By making the appropriate substitutions I should obtain this output:

Your Ford Focus will be ready for pick-up on 2022-10-21

How can I achieve this? And since the 'query' column of the first table does not only refer to the 'vehicles' table, can it work dynamically on any placeholder/query?