I’m using “chat” here generically; to mean sending and receiving emojis and other text-oriented communications.
There are various chat apps available here, of which iMessage is one. Signal is another. There are many other chat apps.
With Apple gear, SMS and RCS communications are only available when there is an iPhone in range and associated with the same Apple Account and with what Apple calls Continuity enabled.
Neither iPad nor Mac have cellular (voice) communications.
iPad can (optionally) have cellular (data) communications, in addition to Wi-Fi communications.
Your Android phone has cellular (voice) communications, and that usually also includes SMS and RCS communications. Same as iPhone.
The confusing part: SMS and RCS are tied to cellular (voice) communications. Not cellular (data) communications.
Chat can use other protocols, typically using IP network connections, and those connections can occur via cellular (data) connections, or via Wi-Fi network connections.
Most other devices either have no cellular (voice) communications and use Wi-Fi, or have Wi-Fi and cellular data. These do not have (direct) SMS or RCS, because they have no cellular (voice) capabilities.
Chat via Wi-Fi works fine.
Chat via cellular (data) communications works fine.
Chat involving SMS and RCS needs cellular (voice) communications accessible directly on the local device, or indirectly via a function such as Continuity and cellular (voice) communications capabilities on another associated device.
Apple Messages supports the Apple iMessage protocol, and supports SMS and RCS where available. Similarly, Google Messages app also supports SMS and RCS when that path is available, and its own Google-related protocols when IP network connections are available.
Other chat apps can or will use other protocols, some involving SMS and RCS, and others involving IP network connections via cellular (data) connections or Wi-Fi communications.