I have been having a similar problem, and finally tracked it down to the fact that, while sitting at my desk, my iPhone is using WiFi to receive text messages ... which is fine when Apple messaging is being used, because Apple sends iMessages via the Internet. Texts from Android phones - at least with some carriers - only go out over the cellular network. The problem is that I have miserable cell coverage at my desk, so as far as the cellphone carriers are concerned, I'm "offline" -- and they inform their senders accordingly.
As soon as I step outside my front door, the iPhone switches to the wireless carrier, and the accumulated messages from Android phones arrive all at once.
As for the RCS/SMS kefuffle, I believe that the phones default to SMS when signal strength is poor, but somebody more knowledgeable than I might know if this is in fact the case. In a group chat, with widely differing signal strengths among the participants, and others possibly on WiFi, it's not surprising that the use of RCS would be inconsistent.