Perhaps this should be changed to be a request for Apple CarPlay/Android Auto integration? This includes SMS but also other texting apps - I see little point in only getting SMS messages when 90% now come via WhatsApp...
Some cars (some not even very new) will speak your incoming text messages (received from your phone via Bluetooth) aloud to you and will give you the opportunity to reply by speech-to-text. Tesla is miles behind on this tech.
I would prefer text to speech with the car pausing or muting the music and then reading the text message instead of having all the text on the screen. This is the way my 2015 Subaru does it. It tells you that there is an incoming message from someone (gives name if it's in your contact list) and then you can ignore or have it read. I think clicking on the left wheel in the model 3 where we control the volume would be an obvious way to request it to read the text. After you read it, you should have an option to speak a reply which should be processed as speech to text.
Definitely! Fumbling for your phone is dangerous, it should appear on the screen like a friends Toyota Corolla does. Geez the phone is connected and the suggested center console location is a nightmare. Also communicating with Siri in an iPhone is hampered or balky when the phone is connected. The steering wheel mic button should let you dictate to the phone to reply to text messages.
I bet a Tesla hits something on autopilot because someone is trying to use a phone for text. More bad press for autopilot!
My Samsung has an option to read texts to you and reply to them using Text to Speech and Voice to Text. was quite surprised that Tesla hasn't incorporated such a thing. It's not perfect in the Samsung yet, but it does handle most situations.