None "just work".
SMS did. But it got dated fast...like, as soon as camera phones came out.
RCS came out around 2007 and was defined by GSMA as the next generation of SMS, but they struggled with carrier and device compatibility until 2016-ish.
By then, iMessaging had already been around for several years.
Apple could've opened up iMessage. Google could have forced Android towards GTalk/Hangouts/GVoice, but instead joined up with a pre-existing standard.
Plenty of stories where Google is the bad guy (including one, I thought, where they basically hijacked the XMPP project, but I could be misremembering)...but I don't think RCS, itself, is one.