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The combination of spin-orbit coupling with interactions results in many exotic phases of matter. In this Letter, we investigate the superconducting pairing instability of the two-dimensional extended Hubbard model with both Rashba and Dresselhaus spin-orbit coupling within the mean-field level at both zero and finite temperature. We find that both first- and second-order time-reversal symmetry breaking topological gapped phases can be achieved under appropriate parameters and temperature regimes due to the presence of a favored even-parity $s+id$-wave pairing even in the absence of an external magnetic field or intrinsic magnetism. This results in two branches of chiral Majorana edge states on each edge or a single zero-energy Majorana corner state at each corner of the sample. Interestingly, we also find that not only does tuning the doping level lead to a direct topological phase transition between these two distinct topological gapped phases, but also using the temperature as a highly controllable and reversible tuning knob leads to different direct temperature-driven topological phase transitions between gapped and gapless topological superconducting phases. Our findings suggest new possibilities in interacting spin-orbit coupled systems by unifying both first- and higher-order topological superconductors in a simple but realistic microscopic model.