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Apple says iPhones will support RCS in 2024
(www.theverge.com)
This is a most excellent place for technology news and articles.
No direct support (in Google Messages), but I wouldn't be surprised if Apple piggybacked on your iCloud account to share links to such things. A similar thing can be done with Google Photos.
I've sent videos in Google Messages to others (e2ee RCS) and they've arrived in a good enough quality, definitely better than MMS at least. I've not shared media over standard RCS though, so unsure if that implementation is different....