Tap Control & Google Assistant

I have a Samsung Android Smartphone with the Phonak Tap Control feature and in sync with Google Assistant.
I especially like the feature where I can receive and make phones calls while driving.
However, I receive text messages and do not want to check them out while driving.
Now I know I can send text messages using the Tap Control with Google Assistant, but I was wondering if there is a hidden gem where I can tap and have Google Assistant or another app read a received text message to me?
Does anybody have any experience with this?