Microsoft has announced that those with Samsung Galaxy S20-series devices can also now use their Windows 10 PCs for rich communication services- (RCS) enabled messaging. This feature is apparently available in the latest Insider's Preview Build and to the public in general. The same Preview includes further new Your Phone features.
https://www.notebookcheck.net/RCS-support-on-Windows-10-PCs-is-coming-to-those-with-Samsung-phones.457519.0.html