Notification for RCS messages not working

Android Auto
I recently purchased a car with Android auto, definitely is nice to have access to phone apps through the car. One issue I have is that RCS messages do not come through and since Android auto puts the phone is dnd mode, I dont even hear my phone or smartwatch. Any tricks to get this to work? I thought rcs was just added to AA. I am using a Pixel 3a.

Thanks

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