Missing "Announce Messages with Siri" option

After pairing my new 2nd gen AirPods (model 2031) with my iPhone 11 Pro, I wasn't prompted to enable "Announce Messages with Siri" and there's no "Announce Messages with Siri" option shown on the Settings -> Notifications screen.

Any idea what I can do to obtain that option so I can enable that feature?

Here's what I've tried, but still no "Announce Messages with Siri" shows on the Settings -> Notifications

1. Rebooting phone
2. Unpairing the AirPods, rebooting iPhone, re-pairing Airpods (multiple times)
3. Checking for software update (already up to date on 13.5.1)