Some may take issue with changing the Bootstrap js (and perhaps validly so) but here is a two line approach to achieving this.
In bootstrap.js, look for the Collapse.prototype.show function and modify the this.$trigger call to add the html change as follows:
this.$trigger
.removeClass('collapsed')
.attr('aria-expanded', true)
.html('Collapse')
Likewise in the Collapse.prototype.hide function change it to
this.$trigger
.addClass('collapsed')
.attr('aria-expanded', false)
.html('Expand')
This will toggle the text between "Collapse" when everything is expanded and "Expand" when everything is collapsed.
Two lines. Done.
EDIT: longterm this won't work. bootstrap.js is part of a Nuget package so I don't think it was propogating my change to the server. As mentioned previously, not best practice anyway to edit bootstrap.js, so I implemented PSL's solution which worked great. Nonetheless, my solution will work locally if you need something quick just to try it out.