Phil Schiller was one of the strongest voices against cross-platform messaging interoperability. He's just as bad as the rest of them.
How do I know it was probably illegal? Because Apple finally caved and implemented RCS once it started leaking through backchannels that a legal case was being built against them.
None of the services you listed do it, but that's because they don't want to, not because it can't be done. It's a business decision problem, not a technical problem.
https://9to5google.com/2025/03/14/rcs-end-to-end-encryption-...
https://www.theverge.com/2021/4/27/22406303/imessage-android...