They can't implement RCS, because there's no Android API for it.
Honestly, it's kind of hard to blame Signal and/or Google if carriers are involved here. I mostly use Signal and Element, so if those two had a single client, that'd be fine. But, I think Signal probably still favors a centralized system, and they have added ongoing call transfers from and to mobile/desktop, and now Stories and the money transfer (not a fan), so I suppose it's up to the users to choose.
[1] https://www.sammobile.com/news/google-messages-rcs-integrati...