RCS is the closest stock android messaging apps will get to iMessage. For some reason I can't enable rcs on the stock samsung messages app, but you can download Android messages by Google and enable it through there.
RCS brings features like typing and read indicators, as well as other chat features which I honestly couldn't be bothered to try out. However, it doesn't work between android and iOS.
its not enabled by default. Click the 3 dots in the app, go to settings, and see if there's a setting called "chat features". If there is, click it and enable them. If there isn't, you cant get read or typing indicators sadly. I've seen posts from other members claiming they can enable chat features on their phones but I can't on my S10e in the stock samsung messages app.
Android messages works for pretty much everyone though.