You could try sending google photos links for you videos.
You should also try Verizon messenger, ui isn’t too pretty, but it gives you the option getting all your messages on other platforms, I have Verizon messenger installed on my iPhone, iPad, and iMac as well as my fold.
Also, if you family is also on Verizon, they can also install that to get the full quality videos.
I used to use Verizon messenger years ago, it wasn't bad at all. I may give it a shot, I can only assume that RCS at least works with it since it's Verizon's app.