How do get a texas id or a Pennsylvania id out of ste?

(Texas)I need to get my younger sibling an id and we live in texas. houston. i do not have his pennsylvania id or his birth certificate. i have his social security card, a philadelphia city id, and a ssi letter saying he gets benefits. i have a texas id. how do i get him a texas id or get a replacement id. can i put a change of address in at the post office and then wait to order a replacement id online, will that send the card replacement to the out of state address?