Beans have a huge variety of texture. Some might be mushy, but most probably won’t be quite as mushy as canned AND cooking yourself means you can control the texture as well.
I’m no good with varieties but there are waxier beans out there that maintain texture when cooked. Lots of beans cook up more similar to garbanzo’s in texture but are shaped and taste more like a typical bean. Definitely worth experimenting.
Otherwise, embrace the mush, had me some amazing huevos rancheros this AM. A slightly runny yolk (I like mine over medium), some refried beans and red chili sauce. Was amazing on toast.