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There can be other servers and apps, for example Samsung has their own app. It's hard for me to track down details about how they interoperate but it appears that the various services need to agree to work with one another, so I don't think just anyone can create an RCS app and infrastructure and have it work with Google's and Samsung's. However, I imagine Apple is fully capable of it and would be surprised if iPhone RCS wasn't going through Apples network.
Samsung's app is just rebranded Google app.