I have had Zwave Yale locks for almost 10 years now and am pretty happy with them. I have the assure SL (mentionned in another comment) on 3 doors right now and they are rock solid.
The battery is reported to Zwave but you will also get some beeping and flashing on the lock itself when the battery gets low, so even if you don’t see it in HA it is hard to miss and end up with a dead battery.
As a side note, I always bought the push button variant of those locks and stayed away from the touch pad version. Living in Canada it seemed like a bad choice to deal with touchpads in the winter with the gloves and snow possibly melting on it.
To answer the last part of your post:
So far my experience is that the RCS-iMessage feature is working (or not) depending on the Apple user’s provider. I’m on Android with a “cheap” provider in Canada and RCS-iMessage work with my iMessage contacts that are on major providers but those on cheaper providers don’t work yet.
So if you are on Android and your basic RCS works you should be good.