We have AT&T as our mobile carrier. Three of us are on the same plan. Two have Samsung S21+ and the other is an older phone but ut is a Samsung. The two that have the S21+ cannot see each others read receipts but we can see it when we get texts from the older phone. Both S21+'s have it turned on. Please fix this issue with the S21+ update.
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Also, RCS working is usually a carrier issue if the phone allows it.