That's part of the reason why Google is pulling more and more stuff out of AOSP and into Google Play.
They started with the WebViews that vendors refused to update leading to all kinds of exploitation. These days, system components like the bytecode runtime and the Bluetooth stack can be updated by Google, unless the manufacturer actively prevents Google from doing that.
Firmware remains an issue, and IOMMU protections aren't all that great on every single device, but more and more Android internals get maintained by Google these days.
As for messages, there is always a risk in the pipeline between modem and the system service, but the Messages app is just another app you can update through Google Play or whatever store you prefer. Same with the dialer app and plenty of other apps. The super-integrated components that make for preferred exploitation targets on iOS aren't set up the same way on Android (not that Android doesn't have other attack vectors, of course).