Interesting structure. Lots of similarities to milkweed. But no, I think it is either South Texas Woolly Croton (Croton heptalon) or Hogwort (Croton capitatus). The similarities are the lower leaves are opposed, the leaves have fuzzy trichomes and the size is similar to many milkweeds. But I suspect if you pull a leaf and look at the sap it will have clear or green sap and not be a host plant for milkweed caterpillars.