It is ironic (tragic?) that in 2022, the communication between modern RCS Messages and iMessage will be the ancient unencrypted SMS system. But that's what we have to live with for now, so it is good to see Google at least trying to improve compatibility of the experience from the Android side.
As one commentator says, it would be interesting if WhatsApp, Telegram or Signal could figure out how to incorporate RCS from the iPhone side, especially. The problem is though that RCS is a carrier level enabled service.
See
Messages will send videos as Google Photos links for the benefit of RCS-less iPhones, rolling out iMessage reactions#
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Messages 
In recent weeks, Google has been testing and slowly rolling out a number of new features for Messages on Android. The company announced ...
