The argument is that they don't do it to maintain a secure experience but to stop competitors having feature parity with their products.
Personally, I find it annoying that my Garmin watch cannot reply to text messages on my iPhone.
I also find it annoying that my iPhone nags me to cut access to my watch to stop it getting weather updates. It doesn't even nag me the once but repeatedly.
It would be one thing if Apple even competed on features with Garmin but they don't.
I actually switched to an iPhone some time ago and was expecting it to be like you said. But I was shocked that iOS is actually less coherent and a mess in some places, and the App store could be curated better. To be honest the reason I still use it is because the hardware is really good and because it is pretty.
The reason Google loves RCS is because they spectacularly failed 4 or 5 times at introducing their own iMessage competitors.
Competing companies often act in their best interests. And both Google and Apple offer OS’s which have very different value systems. I think that’s good for consumers. If I want open (and all the pros and cons that come with that) I can buy an Android phone. If I want closed (and the pros and cons that come with that) I can buy Apple. If they Apple starts to open up a bit and Google locks things down a bit we get the worst of both worlds and no true options.