I personally think the current situation with iMessage is garbage. Even if Apple doesn't care about Android users, they are hurting their own users: every time an iPhone user has to send a text to an Android user, they degrade the security and privacy of their own users.
(It's telling to see where Apple draws the line: being anti-competitive around messaging is more important to them than their customers' privacy and security.)
Even if Google had their shit together when it comes to messaging, there's always the "default install" problem: iMessage is on every iPhone, from the factory. That creates a barrier for any competitor to gain market share with an alternative messenger. Sure, WhatsApp, Telegram, etc. have been pretty successful, but they're not the default install. (Remember when Microsoft got in trouble in the 90s for bundling IE, at the expense of Netscape?)
As an Android user, all I really want is a secure way to communicate with others by default, without having to figure out which secure messaging app I have in common with each of my peers. Apple has made that impossible, and should be required to allow Google to integrate iMessage support into the stock Android Messages app. Or they should be required to support RCS (with E2E encryption compatible with Google's extension) on iPhones. I'll accept either option, though I'd probably prefer RCS rather than an Apple-proprietary protocol.