I have an S22 while my wife has an A71 5G. We are both on T-Mobile. My phone has the Samsung skinned Google Messages - with RCS services provided by T-Mobile. My wife has the standard version of Google Messages with RCS services provided by Jibe. We both have RCS enabled and are connected. Most of the time, if my wife wants to send me a message - Messages says it will be sent by RCS, but the message is never sent - until she manually commands it to be sent via SMS (and yes, we have enabled the automatic fallback to SMS - but that doesn't work either). If she uses Samsung Messages, RCS messages are transmitted without issue. I have seen many other posts of a similar nature - trying to use RCS between T-Mobile's RCS and Google's is prone to failure.
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Google Messages is RCS via the internet and does not require a network connection, (Though your carrier may provide the internet, as opposed to tapping into a Wi-Fi signal for service), nor does it require that your carrier to support RCS.