I just spent 45 minutes on the phone with Samsung customer support about the failure of the RCS features within the Galaxy devices. The technician at the other end was very difficult and belligerent and refused to address my issue. Several times the he woukd go on mute and not respond for several minutes when I was asking him questions.
RCS in which messaging app? In Samsung Messages, RCS only works with a handful of carriers and doesn't have complete compatibility with iPhone users. You need to switch Google messages if you want the complete RCS experience, assuming your carrier supports it. If you are one of the die-hards who will not give up Samsung messages, you will not have RCS compatibility. The failure of RCS is not on Galaxy devices, but on the messaging app used.
