Remove the =
sign after your echo
statement…
echo = "<p>Text Goes Here</p>";
…becomes
echo "<p>Text Goes Here</p>";
Final
add_action( 'woocommerce_review_order_after_shipping', 'action_woocommerce_review_order_after_shipping');
function action_woocommerce_review_order_after_shipping( ) {
echo "<p>Text Goes Here</p>";
}