How to call SOAP Endpoint dynamically

Summary

Is there a way to call SOAP endpoint given that we have endpoint URL and we can pass it dynamically to execute it payload

Content

Hi,

I am looking for a solution similar to what we do for REST endpoint. Using REST adapter we can pass relative resource URI dynamically and also the payload. 

Is there a way to call SOAP endpoint given that we have endpoint URL and we can pass it dynamically to execute it XML payload?