Replacement for Moto SMS voice reader

I recently switched from a Moto G7 to a Samsung S20FE. I need an app that can read my SMS messages and I can respond to them when using bluetooth. Moto had that feature and I figured I could find an app that did the same thing, but I am having no luck. Many can read the message, but I can’t respond with my voice. They also charge a monthly fee. Is there a way to duplicate the Moto voice with something else? I have to be hands-free when I’m working/driving. Thanks.

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