Attach text to moving object in video

Noob needs help. I have video from a gopro moving forward and I want to attach text and pics to things like cars, signs, etc as I approach them or pass by. So we’re talking pivoting, size changing and rotation too. I can do it manually in my video editor but it takes forever and never really stays with the car or sign. I do NOT want to have to pay 35 bucks a month for after effects!